Grilled Peaches and Cream with delicious layers of juicy peaches, balsamic glaze, and sweetened cream is a quick and easy summertime treat you'll love!
In a small bowl, combine balsamic vinegar, honey, and vanilla extract. Whisk until blended. Reserve half of the balsamic mixture.
Halve peaches, remove pit and peel skin.
Liberally brush peach halves with half of the balsamic glaze and grill on hot coals until slightly softened and caramelized, turning once or twice and occasionally brushing with glaze.
Remove peaches from heat, let cool and cut into cubes.
In a bowl, combine cream cheese and sweetened condensed milk. Using a hand mixer or wire whisk, beat until blended and smooth.
In serving cups, layer grilled peaches and cream mixture. Lightly drizzle with the remaining balsamic glaze.