Grilled White Peaches with Balsamic Glaze

Supper Club! We grilled and we grilled, and then we grilled dessert. The glaze is a make ahead so the dessert goes from grill to plate in a matter of minutes. Here's what you do:
2/3 cup balsamic vinegar
3 tbsp brown sugar
1 tbsp honey
Pinch of salt
Few twists of black peppercorn
Bring it up in a boil on the stovetop or grill, stirring to blend the sugar, honey and liquid. Turn back the heat to a simmer and let it reduce down to about 1/2. Once this is done, pull it off the heat and add a little to the bottom of a baking dish. 1/2 the peaches, remove the pit and place them (cut-side) into the glaze. Let them soak up the flavor for at least 10 minutes, more if you have time.
Take them to the grill, place them on the grates cut-side up first. Flip after about 2-3 minutes, then grill cut-side until you see those caramelized tracks. Serve it up with a scoop of vanilla and top it with as much of the balsamic reduction as you can handle!