Mix together; Mascarpone Cheese, Greek Yogurt, lemon zest, maple syrup and vanilla (if you are using).
Fold the mixture together making sure not to blend. This ensures it stays light and creamy.
Pour into a container, cover then freeze until solid. Remove from the freezer about 15 minutes before serving for easy scooping.
Cut the peaches in half and de-stone, then place onto a baking tray. Drizzle a light amount of rapeseed oil over them, then place under a hot grill for about 15 minutes until the peaches start to caramelise on top. (You should remove your frozen yogurt from the freezer before grilling).
Place the grilled peaches onto a serving plate, then add a scoop of frozen yogurt to the top of each one.
Finely crush the mixed nuts and sprinkle on top, then use the juices from the baking tray to drizzle over and serve warm.