01Using paper towels, rub grates of grill with canola oil so peaches do not stick. Preheat grill (or grill pan) to medium-high heat.
02Place peach halves on grill and allow to cook for 5-7 minutes or until the peach begins to brown from the caramelization. Turn over and allow the skin side to grill for 5-7 minutes. Remove peaches from the grill and carefully remove the skin from the peaches. Place peaches in a food processor and puree. Refrigerate peach puree and allow to fully cool, approximately 30-40 minutes.
03 Place milk, cream, sugar, and vanilla in a mixing bowl and using a wire whisk mix until sugar is dissolved. Mix in peach puree and pour into gelato into an ice cream maker. Follow manufacturers instructions for ice cream maker.
04 Allow to fully freeze before serving. Serve with grilled peaches, if desired.