Place peach, cut side down directly on preheated grill grates. Grill until marks start to appear, about 5-10 minutes. Turn cut peaches over so the cut side is up and any juices can start to collect in the cavity. Continue to grill until peaches are tender, about another 5-10 minutes.
Pour 1-2 tablespoons caramel sauce over each peach. Top peach with about 1-2 teaspoons cointreau. Serve as is, or top with whipped cream or vanilla ice cream.
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