Grilled Peaches

Thoroughly whisk the milk, sugar, vanilla and cinnamon together in a large mixing bowl. Wash the peaches, cut them in half but leave the skin on, and remove the pit. Place peaches in the milk mixture and let soak for at least 5 mintues.

Heat your grill with a medium flame to about 300-350ºF. Place peaches, skin side down, on the hot grill and let cook until they have a nice light and even char. Turn over onto the cut flesh side and allow to grill for about 1 more minute. Remove from heat and remove skins. Serve.