In a medium bowl, combine coconut milk, vanilla extract, and honey. Use a whisk to combine until the consistency is smooth. Follow the instructions on your ice cream maker to finish the process.
Slice peaches into 1/4" pieces after removing the core.
Arrange peach slices on a plate and sprinkle with sugar and cayenne.
Grill for 3 minutes on each side or sauté quickly in a pan over medium-high heat for 8-10 minutes.
Our ice cream maker takes about 30 minutes total, and then we like to transfer to another container and freeze for an additional 30-60 minutes
Scoop ice cream, top with peaches, and enjoy!