Grilled Peaches with Cinnamon Ice Cream

Makes approximately 1 pint of ice cream.

1.In a medium bowl, beat together vigorously the egg yolks, sugar, vanilla and cinnamon. Beat very well with a whisk until it turns pale and fluffy, about 3 minutes.
2.Meanwhile, warm the milk and cream in a small saucepan on the stove over medium heat. Once tiny bubbles form around the edge of the pan, remove it from the heat and begin to slowly add it to the egg yolk mixture while constantly whisking. Once the two mixtures are combined, pour them back into the saucepan, and turn the heat down to medium low. Cook, stirring constantly until a thickened sauce forms, one that coats the back of a spoon. (Use your finger to draw a line through the sauce on the spoon—if it holds, you’re finished).
3.Remove the custard from the heat, pour it through a sieve into a bowl, then place the bowl in the fridge overnight to chill thoroughly (place plastic wrap directly on the surface of the custard so that a film doesn’t form).
4.The next day, ensure your ice cream maker bowl is completely frozen. Add your chilled custard and churn 20-30 minutes (according to manufacturer’s instructions), until it looks like soft serve ice cream. Scoop it from the ice cream maker into a storage container, then place it in the freezer to harden for several hours.
5.Move on to the peaches: In the smallest saucepan you own, stir together the brown sugar and Frangelico. Let it come to a light simmer and stir to ensure the brown sugar is dissolved. Remove from the heat.
6.Cut the peaches in half and twist apart (if you didn’t buy freestone peaches, you will now see why you should have). Brush your grill grates with oil and heat to medium heat level. Brush each peach half with the brown sugar sauce and place on the grill, cut side down. When nice grill marks form, flip the peaches and cook a few more minutes.
7.Serve the grilled peaches topped with scoops of the cinnamon ice cream.

*Note: If you don’t want to go through the trouble of making cinnamon ice cream, add 1/2 teaspoon cinnamon to your brown sugar sauce instead. It’s just as delicious.