Serve the peaches topped with your favorite frozen dessert.
Preheat oven to 400F.
Bring large saucepan of water to a boil. Add peaches; blanch 1 minute. Using spoon, remove peaches; slip off skins. Halve peaches, and remove pits.
Combine maple syrup, rice syrup, 1/3 cup water, cinnamon stick and salt in 8×11-inch baking dish; blend. Cut vanilla bean in half lengthwise. Open bean, flatten and scrape out seeds. Add seeds and pod to dish. Arrange peaches in syrup, cut side up.
Bake 15 to 20 minutes, turning peaches once after 10 minutes, or until tender. Using spoon, remove peaches from syrup; set aside. Remove and discard cinnamon stick and vanilla bean pod. Pour pan syrup and lemon juice into skillet. Bring mixture to a boil. Cook, uncovered, until thickened, about 5 minutes.
Serve peaches warm, topped with scoop of frozen dessert and drizzled with caramel sauce.