Preheat the oven to 350 degrees Fahrenheit.

Take one cup of the oats and process in a blender or food processor for two to three minutes to make flour.

Combine the oat flour with the remaining one cup of oats, brown sugar, salt, vanilla and margarine. Using your hands, form the mixture into coarse crumbs.

Pour onto a baking sheet lined with Gefen Parchment and bake for 20 to 23 minutes, or until golden brown. Cool completely before crumbling.

Preheat the grill on high heat for at least 15 minutes or until the temperature reaches 450 degrees Fahrenheit.

While the grill preheats, halve peaches, cutting along the natural lines on each peach. Remove peach pits and discard.

In a bowl, whisk together honey, cinnamon, and salt, until ingredients are fully incorporated. Dip each peach half in honey mixture, stopping to whisk mixture again as needed. Repeat the process until all peach halves have been coated in honey.

Keep the grill heat on high. Place peach halves honey-side down directly on the grill grate. Grill peaches three to four minutes or until grill marks are as dark as desired.

Flip peaches over and grill skin-side down for one minute, until the rounded side of peaches has softened. Carefully remove peaches from the grill and serve with gelato, crumble, and fresh mint or basil if desired.