The Preparation
Prepare vanilla pudding cream: mix instant pudding with milk according to package directions. Fold in whipped cream for a lighter texture. Refrigerate until ready to use.
Preheat grill to medium heat.
Brush peach halves with melted butter.
Mix brown sugar and cinnamon together. Sprinkle over cut side of peaches.
Grill cut-side down for 4-5 minutes until caramelized, then flip and grill 2-3 more minutes.
Place grilled peach halves on serving plates.
Dollop or pipe vanilla pudding cream into the center cavity of each peach.
Serve warm.
