Robin Miller, author of Robin Rescues Dinner, showed Harry Smith and Lara Spencer at the CBS Early Show how to grill fruit. She offered the following fruit grilling tips.
Fruit grilling tips:
Coat the grill with cooking spray or vegetable oil so fruit doesn't stick.
Brush fruit with butter or vegetable oil to ensure it doesn't stick to grill.
Grill fruit just enough to get grill marks and slightly soften the flesh -- don't overcook.
Choose firm fruits that can hold up to grilling; slightly underripe fruit is fine.
Cook over medium to medium-high heat to prevent burning (or use the sides of grill, not the hot center).
You can see her recipe for Grilled Peach Tiramisu can be found here.