In a medium-size bowl, incorporate all ingredients; place in refrigerator for 30 minutes. Preheat the barbecue to high, or 400°F (205°C). Remove peaches from marinade and place flat side down. Grill for 4 minutes; turn over and grill for another 2 minutes, until you get perfect grill marks and the fruit starts to simmer. Place grilled fruit on a platter, drizzling the reserved rosemary and oil evenly into each peach hole; let cool.
Heat olive oil over medium heat; sauté mushroom, onion and corn for 5 to 6 minutes. Add peanuts and almonds; cook for another 2 minutes, then incorporate soy sauce and honey. Stir and reserve.
To assemble: place 2 peach halves on a plate, add stuffing on top. Drizzle with honey, and garnish with a sprig of rosemary. Makes 4 servings.