Brush your grill with safflower oil (I removed the racks to brush them, then placed them back on the grill.).

Slice the nectarines. Arrange on the grill, and grill the slices over heat high until fruit is tender and blackened on the side facing down.

Meanwhile, place the frozen banana slices, honey, cinnamon, and vanilla extract in a food processor. Pulse until creamy. You may need to scrape down the sides once or twice before the mixture smoothes out. Just keep on pulsing until it turns into a soft ice cream-like consistency!

Spoon the soft serve into three small cups. Evenly divide the grilled nectarines on top. Enjoy immediately!