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Step 1
Preheat the oven to 350 degrees Fahrenheit. Prepare the fruit: peel, pit and slice peaches/nectarines, pit and slice plums, and pit and halve cherries.
Step 2
Line a rimmed baking sheet with parchment paper. Toss the stone fruit with sugar and balsamic vinegar and spread into a single layer. Bake for about 30 minutes, tossing halfway. Serve warm, with ice cream.