Make the bourbon caramel sauce. Prepare the bourbon caramel sauce according to recipe instructions.
Grill the peaches. Heat a grill or grill pan to medium-high heat. Brush the cut sides of the peaches with oil. Place the peaches cut-side-down on the grill and cook for 3-4 minutes, or until they are lightly charred. Flip the peaches and cook on the other side for about 2 minutes.
Serve. Transfer peaches to serving bowls, cut-side-up. Top with ice cream, drizzle with caramel sauce, and dig in while the ice cream is still cold!
Notes
Grill pan method: If you prefer to cook this recipe indoors, you can grill the peaches on the stovetop using a grill pan.