1. Heat a grill to medium heat.
2. Halve the peaches and remove the pits. Place the peach halves in a medium bowl.
3. In a small saucepan over medium heat, melt the butter and maple syrup. Whisk until smooth. Remove the pan from the heat and stir in the vanilla. Pour the mixture over the peaches and stir to coat.
4. Line a large (12") piece of heavy-duty aluminum foil with parchment paper and fold along the edges to create a lip. Place the peaches, along with any remaining butter-sugar mixture, in a single layer on the parchment. Transfer the aluminum-parchment "tray" to the grill. Cook for 5 minutes and turn the peaches once. Cook until tender. Carefully remove the tray and serve the peaches immediately with ice cream.*
*It may be desirable to cut the peach halves before serving since the skin can be difficult to cut without a knife or just remove the skin altogether before eating.
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