Preheat oven to 350°F. Grease a baking dish that is big enough to hold all of your peaches. Set aside.

Using a melon baller, scoop out a small amount of red flesh from the center of each peach (where the pit was). Place the peaches cut side up in the baking dish.

In a small saucepan combine butter and honey. Scrape the seeds from the vanilla bean and place the seeds and the pod in the saucepan. Stir the mixture over medium-low heat for several minutes, until the butter melts and the honey thins out slightly. Pour evenly over the peaches (discard the vanilla bean).

Bake for 20-30 minutes, until the juices have thickened and the peaches have softened but are still holding their shape. While the peaches are baking, assemble the ice cream.

Stir ground cinnamon into softened vanilla ice cream. Taste and add more cinnamon, if desired. Return the ice cream to the freezer to firm up.

Top a warm peach half with a scoop of cinnamon ice cream. Drizzle the top with a spoonful of vanilla honey from the baking dish.