2) Place the raspberries, the remaining lemon juice, and 1 tbsp. sugar into the bowl of a food processor and puree. Pass the mixture through a fine mesh sieve into a small bowl. Cover and set in the refrigerator.
3) Once the grill is hot, place the peaches over direct heat and grill on each side for 3 to 4 minutes or until they are tender. Remove from the heat to a container with the syrup and cover with aluminum foil for 5 minutes.
4) To serve, place the ice cream into 4 bowls and top each bowl with 2 peach halves. Drizzle each bowl with the raspberry sauce and serve immediately.