Preheat grill box.
Cut peaches in half and remove pits. Cut each half in half again so peach is cut into 4 pieces.
Drizzle peaches with olive oil and rub in to cover all surfaces.
Place peaches on grill for 1-2 minutes, turning just once, to create grill marks on all sides.
Remove from grill and let rest while you scoop ice cream.
Place a generous scoop of ice cream in each bowl and top with grilled peaches. Drizzle with Raspberry Balsamic to taste.