Drain the sliced peaches. Place them in a bowl along with some freshly squeezed lemon juice, lemon zest and 1/4 cup sugar. Mix it all together and pour into a heat safe baking dish.
In a mixing bowl add flour, sugar, cinnamon, baking powder, salt and milk. Mix the ingredients together until you the batter is smooth. Pour it over the peaches.
Preheat the grill to 350 degrees and set for indirect heat. Place the fully loaded baking dish on the grill and bake for 30-45 minutes or until the top is golden brown.
Serve with some vanilla ice cream and drizzle some finishing olive oil on top.