In a large bowl, mix together the garlic, shallot, vinegar, honey, and olive oil. Season the vinaigrette with salt and pepper then add the orange juice and zest.
Toss the peach halves in the vinaigrette and place them on the hotter side of the grill. Cook until charred and tender, about 2 minutes per side.
Return the peaches to the vinaigrette after they’ve been grilled. Serve on them alongside your grilled meat.