Half and remove the pit of the peaches.
Heat a stove-top grill pan over medium heat. Once hot, brush the cut side of each peach half with olive oil, and place cut side down on the grill pan. Grill for 2 minutes or until grill marks appear. Remove peaches from the pan and place cut side up on individual serving plates.
Brush the tops of the peaches with Organic Hot Agave In The Raw® and serve with vanilla ice cream.