This a delicious dessert that only requires a grill. The technique for grilling the fruit is important though, and requires patience: if you do it wrong, the fruit will burn into charcoal. You can also substitute peaches, or do both fruit.
Cut 4 apricots in half and remove the pits.
Clean the grill and then oil it. Heat to high for 15 minutes.
Place the apricots face down on the grill and turn the heat to low. You want to sear the cut side briefly, 3-5 minutes.
Carefully flip the apricots over onto their skins. Continue to cook for 10-15 minutes. When the fruit is bubbling, carefully remove it from the grill.
Put 1 apricot (2 halves) in each of 4 parfait glasses or other cup-size serving container.
Immediately top with a scoop of Vanilla ice cream.
Optional: Top with a spoonful of toasted almonds, graham crackers, or crunchy granola.