In a large bowl, combine peaches, sugar and vanilla. Transfer to a greased 8-in. square disposable foil pan., In a small bowl, combine oats, brown sugar and flour; cut in butter until crumbly. Sprinkle over filling., Place pan on grill rack over indirect medium heat. Grill, covered, 15-20 minutes or until filling is bubbly. Remove from heat; cool slightly. Place peach mixture in waffle bowls; top with ice cream.