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1. Grill peach halves on the rack of an uncovered charcoal grill, directly over medium coals, for 8 to 10 minutes or until tender and lightly browned. Midway through grilling, rotate peaches one-quarter turn to create crosshatch marks, "essential for best flavor," Steve says. (For a gas grill: Preheat grill, then reduce heat to medium. Grill peaches on rack over heat. Cover; grill as above.) Remove from heat; cool. Slip off peach skin, using a peeler if necessary.
2. In a blender container, combine peaches and remaining ingredients, except ice. Cover and blend on high for 20 seconds; add ice and blend until smooth. Serve at once in chilled glasses. Top each with a slice or two of fresh peach. Makes 4 cocktails.