Step 1:

First you need to remove the skin from the peaches. Even if you don't mind the skin, the peaches won't grill well with the skin on. Bring a pot of water to boil. Once boiling, place the peaches in the water for 2 minutes. Then move the peaches into an ice bath for another 2 minutes. Then the skin will easily peel off the peaches.

Step 2:

Prepare the whiskey caramel sauce. Simply whisk the butter, brown sugar, whiskey, and cream together over medium heat. Bring to a foamy bubble. Stir frequently, letting the mixture bubble and thicken for about 4-5 minutes. Then turn the burner off so that the caramel can cool a bit. You want the caramel to cool so that it won't melt the ice cream too fast - but you still want it to be warm enough to pour easily.

Step 3:

While the caramel sauce cools, grill the peaches. Slice the peaches in half, and remove the pits. Heat either a grill or a grill pan to medium. I used a grill pan and I melted 1 teaspoon of butter in the pan, and then I grilled each side of the peaches for about 2-3 minutes, until they had grill marks.

Step 4:

Finally, assemble your ice cream sundaes. Place a grilled half peach and a couple scoops of ice cream in a bowl. Generously spoon the whiskey caramel over. Savor every bite.