Rinse the peaches and blot them dry with paper towels. Cut each peach in half along the crease, running your knife in a circular motion around the peach and cutting to the pit. Twist the halves in opposite directions to separate them. Using a spoon, pry out and discard the pit. Cut each peach half in half. Using a pointed chopstick or metal skewer, make a starter hole in the center of each peach quarter, working from the pit side to the skin side. Skewer 2 peach quarters on each cinnamon stick, placing a mint leaf between the two quarters.
Combine the butter, brown sugar, bourbon, cinnamon, and salt in a saucepan and bring to a boil over high heat. Let the glaze boil until thick and syrupy, about 5 minutes.
Set up the grill for direct grilling and preheat to high.
When ready to cook, brush and oil the grill grate. Place the skewered peaches on the hot grate and grill until nicely browned, 3 to 4 minutes per side, basting with the bourbon and butter glaze. Scoop ice cream into bowls or martini glasses and arrange the peaches on top. Spoon any remaining glaze over the grilled peaches and serve at once.
Adapted from BBQ USA by Steven Raichlen. Copyright 2003 by Steven Raichlen. Reprinted by permission of Workman Publishing Company.
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