Heat grill to medium high heat, about 350 degrees. If you have already  made dinner on the grill beforehand, keep the grill hot so you can put dessert on afterwards.

Halve the peaches and remove the pit. Keep the skin on and place the inside half face down into the cinnamon/sugar rub mixture. If using the McCormick's cinnamon sugar rub, grind a generous amount on the peaches so as to form a sugary crust on the inside of the halved peaches.

Grill peaches about 5 minutes per side, until nice char marks form. Peaches will begin to caramelize on the grill forming their own sugary juices.

Grill angel food cake or another cake of your choice on the grill long enough to get char marks, about 3 minutes per side.

As angel foodcake is a lowfat, light and airy cake, this is a guilt-free dessert! Serve the cake, peaches and ice cream together. Enjoy!