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Preheat grill on high heat at least 15 minutes or until temperature reaches 450° Fahrenheit. While grill preheats, halve peaches, cutting along natural lines on each peach. Remove peach pits and discard.
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In shallow bowl, whisk together honey, cinnamon, and salt, until ingredients are fully incorporated.
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One by one, dip each peach half in honey mixture, stopping to whisk mixture again as needed. Repeat process until all peach halves have been coated in honey.
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Keep grill heat on high. Place peach halves honey-side down directly on grill grate. Grill peaches 3 to 4 minutes or until grill marks are as dark as desired.
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Flip peaches over and grill skin-side down for 1 minute, until rounded side of peaches has softened. Carefully remove peaches from grill and serve immediately over yogurt or ice cream with extra honey, mint, or chopped pistachios as desired.
