Heat grill to 400 degrees F (200 degrees C), lower temperature to around 350 degrees F (180 degrees C).
Wash Peach (4) and dry them. Cut each peach in half and remove the peach pits.
If the peaches are not juicy, lightly brush the cut side of each peach with lemon juice or melted butter. Place the peaches cut side down on the grill.
Cook the peaches to desired doneness, rotating every minute or two.
Chop two grilled peach halves.
In a small saucepan, stir together the Dark Brown Sugar (1/4 cup), Butter (2 tablespoon), Lemon (1/2), and Sea Salt (1 pinch).
Stir in the chopped peaches. Heat the mixture and stir until the sugar is dissolved. Keep warm until serving.
In a small bowl, place a grilled peach half in the bottom. Top each peach with 1/2 cup of Vanilla Ice Cream (3 cup) and some Whipped Cream (1 cup).
Drizzle the grilled peach topping over the top and serve immediately.