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In a wide, deep skillet, combine 1 ½ cups of the sugar, the water, 3 teaspoons lemon juice, and the vanilla. Bring to a boil over medium-high heat, stirring until the sugar is dissolved.
If using fresh peaches, place the peach halves carefully in the boiling syrup. Cook until tender, about 3 minutes per side, testing by piercing with a paring knife. When tender, use a slotted spoon to transfer the peaches to a bowl and let sit until room temperature, 5 to 10 minutes. Slip the skins from the cooled fruit.
If using frozen sliced peaches, add the thawed peach slices to the boiling syrup and return to a boil. Cook for 2 minutes, then remove from the heat and let the fruit cool in the syrup until room temperature, 15 to 20 minutes.
In a blender jar, combine the raspberries, remaining ¼ cup sugar, and remaining ½ teaspoon lemon juice. Purée until smooth, about 2 minutes. If desired, press through a fine-mesh strainer to remove the seeds.
To serve, place two peach halves or ½ cup slices in each of four serving bowls. Add a scoop of ice cream to each bowl and drizzle each with 2 tablespoons of raspberry sauce. Serve immediately.