Cut pineapple lengthwise into quarters; discard core. Remove pineapple pulp, discarding shell.
Combine brown sugar and cinnamon. Sprinkle evenly over pineapple pulp. Sprinkle evenly with ginger.
Coat a food rack with cooking spray; place on grill over medium-high heat (350° to 400°). Place pineapple on rack, and grill, covered with grill lid, 5 to 7 minutes on each side. Remove pineapple from grill, and cut into chunks. Serve with Vanilla-Cinnamon Ice Cream.
*Low-fat or fat-free vanilla frozen yogurt may be substituted for Vanilla-Cinnamon Ice Cream.