Light your grill and prepare for direct grilling over medium heat.
Add the mascarpone cheese, powdered sugar, cinnamon and vanilla extract to a large bowl and beat with a hand mixer. Add in the heavy whipping cream and continue beating until it becomes fluffy. Place in the refrigerator.
Place peaches cut side down on grill over direct heat, and grill till charred with deep colored grill marks. About two to three minutes. Turn the peaches and grill the other side for an additional 90 seconds.
Remove peaches from the grill, and fill each one with mascarpone ice cream. top with a dusting of graham cracker crumbs and a drizzle of maple syrup.