You can use apricots or nectarines instead of peaches. Garnish with mint, if desired.
Combine melted butter, 1 tablespoon honey, cardamom, and salt in a medium bowl. Add peaches, and toss to coat. Let stand for 5 minutes.
Heat a grill pan over medium heat. Coat pan with cooking spray. Arrange peaches on grill pan; grill 2 minutes on each side or until grill marks appear.
Combine yogurt, half-and-half, remaining 1 tablespoon honey, and vanilla in a small bowl; stir with a whisk. Serve with peaches and raspberries.