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To make the cinnamon toast crumbs. Preheat the oven to 350 degrees F. Line a baking sheet with parchment. To the baking sheet, add the breadcrumbs, butter, and cinnamon sugar, toss to coat the crumbs. Transfer to the oven and bake 10-15 minutes, until toasted. Watch closely to ensure they are not burning.
To make the browned butter. Add the butter to a skillet set over medium heat. Allow the butter to brown until it smells toasted and is a deep golden brown, about 3-4 minutes. Stir often. Remove from the heat and transfer the butter to a heat-proof bowl. Stir in the honey, vanilla, and cinnamon. The butter can be used immediately or cooled completely and stored for up to 1 week. Serve at room temperature.
To grill the peaches. Preheat your grill or grill pan to medium-high heat and brush the grates with oil. Grill the fruit for 2-3 minutes or until light char marks appear, flip and grill another 2-3 minutes. Remove from the grill and immediately drizzle/spread each peach half with browned butter. Serve topped with vanilla ice cream and a generous sprinkle of cinnamon toast crumbs. ENJOY!