Pour honey into a small saucepan; bring to a boil over medium heat. Add raspberries; cook 3 minutes or just until soft, stirring occasionally. Set aside.
Remove pits from peaches; do not peel. (The peel keeps the fruit intact on the grill.) Spray halves with cooking spray.
Grill peaches, cut side down and covered with grill lid, over medium-high heat (350° to 400°) about 8 minutes or until tender, turning once.
Place peach halves in serving dishes; top each evenly with ice cream and honey mixture. Garnish, if desired. Serve immediately.