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In a large bowl, whip cream until sit starts to thicken.
Add the vanilla and sugar. Continue whipping until soft peaks form, about 4 or 5 minutes. Refrigerate.
Heat the grill to medium heat.
Cut the peaches in half and brush the top with olive oil.
Place the peaches face down on the grill and cover.
Cook peaches for about 6 to 8 minutes, until there are distinct grill marks and the peaches feel warmed through and slightly softened.
Once the peaches are cooled off, top with a big dollop of whipped cream and sprinkle with the walnuts.
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