Preheat the grill over medium heat. Once the peaches are halved and the pit has been removed, brush the peach with olive oil. Place the peach cut-side down on the grill for 5 minutes, or until grill marks begin to appear. Flip the peaches so they are cut-side up and cook for an additional 4-5 minutes, or until just tender. Top the peaches with Halo Top vanilla bean ice cream, or other favorite, and drizzle with the cinnamon sauce. Serve immediately and enjoy.