Heat oven to 500° F. Line a baking sheet with 2 layers of foil. In a small bowl, combine the red pepper flakes, olive oil, 1 tablespoon of the honey, and salt and pepper to taste. Brush the peaches with the honey mixture and place them on the foil, cut-side down. Scatter the rosemary over them, then roast for 15 minutes, turning once. Transfer the peaches and top layer of foil to a counter to cool. Slip off the skins, if desired. Brush the shrimp with the remaining honey mixture, place on the bottom layer of foil, and roast for 8 minutes.
Meanwhile, slice each endive crosswise into 3/4-inch-thick strips. Place the peaches and endives in a large bowl. In a medium bowl, combine the crème fraîche, mustard, vinegar, milk, the remaining 1 teaspoon of honey, and salt and pepper to taste. Whisk in the corn oil. Drizzle 3/4 of the dressing over the peaches and endives; toss. Divide the salad among 4 plates, top with the shrimp, and drizzle with the remaining dressing.