Cut peaches into slices. Grill the slices on high heat until caramelized, about 3 minutes on each side. Place a skillet over medium high heat and add pancetta to the pan. Let it render and cook for about 5-7 minutes, then add hazelnuts and full sprig of rosemary to the pan. Stir and cook until hazelnuts are fragrant. Season with salt and pepper, remove rosemary and spoon over peaches. Enjoy on its own over over some dairy free ice cream!