Slice both the Peaches and Pears in half, discarding the stone/pits.
Brush the fruit on both sides with the EVOO.
Place the Peaches and Pears, cut-side down, on a Hot Grill.
Cook approximately 4 minutes, until clear grill marks are visible.
Turn and cook another 4 minutes.
Remove fruit from grill and place on individual dessert plates or a large platter.
Using a melon ball scooper, now fill each of the grilled Peaches and Pears with 1-2 melon ball scoops of Ice Cream. Drizzle with Peach White Balsamic Vinegar.