Preheat your grill to medium heat.
Wash and halve the peaches, removing the pits.
In a small bowl, mix olive oil, honey, cinnamon, and salt.
Brush the cut sides of the peaches with the mixture.
Place the peaches cut side down on the grill.
Grill for 3-4 minutes until grill marks appear.
Flip the peaches and grill for an additional 2 minutes.
Remove from the grill and let cool slightly.
Serve warm with a scoop of vanilla ice cream.
Drizzle with any remaining honey mixture, if desired.