In a small saucepan over medium-low heat, combine the honey, lemon juice, vanilla essence, and cinnamon. Stir gently until the honey becomes fluid and the flavors begin to meld, about 2-3 minutes. Remove from heat and set aside—this allows the flavors to develop while you prepare the peaches. I recommend doing this first so the glaze is ready when the peaches come off the grill, ensuring the honey soaks in while they're still warm.
While the glaze cools slightly, halve your peaches and remove the pits, keeping the skin intact for texture and visual appeal. Pat them dry with a paper towel, then brush the cut sides generously with olive oil—this prevents sticking and helps create those beautiful caramelized grill marks. Meanwhile, heat your grill to medium heat and lightly oil the grates with a folded paper towel to prevent the peaches from sticking.
Place the peach halves cut-side down on the hot grill. Let them cook undisturbed for 4-6 minutes until you see deep golden-brown grill marks and the flesh becomes tender. The key is not moving them around—let the heat do the work. The natural sugars in the peaches will caramelize, creating a wonderful contrast with the juicy interior.
Remove the grilled peaches from heat and arrange them cut-side up on serving plates or a platter. Immediately drizzle the warm honey glaze from Step 1 over the cut sides of each peach half, allowing it to pool in the center and run into the natural crevices. Top each peach with a generous dollop of whipped cream, then finish with a light sprinkle of lemon zest and a tiny pinch of flaky sea salt. The salt might seem unusual, but it amplifies the sweetness and brings out the peach's natural flavor.