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For the grilled peaches:
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Start your grill or turn your oven broiler on low.
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Quarter your peaches by cutting each peach in half, removing the pit, and cutting the halves in half. Spray the peach slices lightly with cooking spray.
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Lay the peach slices directly on the grill (cut side down) and cook (or broil) for 6-8 minutes, or until the peaches are fork-tender, turning them once halfway through.
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Remove the peaches from the grill or oven and put them onto a platter. Sprinkle with the cinnamon and nutmeg. Let them cool slightly, then drizzle with honey. Set aside.
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For the Cinnamon Vanilla Bean Ice Cream (makes 1 quart of ice cream):
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In a medium saucepan over medium heat, whisk together the half-and-half and sugar, and warm until hot (but not boiling).
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Put the egg yolks into a heatproof bowl and beat them lightly. Once hot, pour about 1 cup of the milk mixture into the lightly beaten egg yolks, whisking constantly until combined.
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Pour the milk-egg mixture back into the saucepan, and cook on low heat, stirring constantly until it reaches 175u00b0F on a candy thermometer.
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Remove pan from the heat, and whisk in the vanilla bean paste and ground cinnamon.
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Strain the ice cream custard through a fine sieve into a large bowl. Then cover the surface of the ice cream mixture with plastic wrap, and freeze for 1-2 hours (or refrigerate overnight) until very cold.
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Once cold, pour into your ice cream maker and freeze according to manufacturer's instructions.
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Pour the ice cream into a container and freeze for at least 3 hours before enjoying!
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Original recipe by La Casa de Sweets.
