Wash and halve the peaches and remove pits. Set aside.
Melt the butter, brown sugar, vanilla, and cinnamon together in the microwave, or a small frying pan.
In sauce pan or stovetop grilling pan (if you want grill marks), add melted butter sugar mixture, allowing it to thicken and bubble slowly (don’t burn it!)
When caramel sauce is hot, place halved peaches on top of caramel, allowing the peach to caramelize on medium heat for 5-7 minutes, or until golden brown. (Grill marks optional)
Scoop ice cream into the inside of the peach (preferably using a melon scooper).