Peaches are one of summer’s best treats — so we’re all eating our fill of them while we can, and grilled peaches are a favorite. Grilling brings out their sweetness and gives them a smoky, caramelized flavor and a dense, velvety texture that’s magic with ice cream.

Our tip: When it comes to picking a peach, don’t worry too much about color. Look for one that smells fruity and gives a little when pressed.