Combine the melted butter, sugar, cinnamon together in a bowl and mix.
When the grill is almost ready, cut the peaches in half and remove the pit. Brush with olive oil to prevent sticking on the grill.
Grill cut side down on the grill grate and grill 3-4 minutes. Flip to other side and grill an additional 3-4 minutes. Brushing each side with the melted butter mixture.
Remove from grill and allow to cool for a couple minutes so the ice cream will not completely melt away. Add ice cream and sprinkle with blueberries.