In a cast iron skillet over medium-high heat, add the peach cubes and cook for about 5 minutes, until warmed and slightly softer. Remove from heat.
Place 1/2 cup of vanilla ice cream in two bowls. Top each serving of ice cream with half of the peach cubes, 1 Tablespoon of caramel sauce, 1/2 of the crushed graham crackers, and a pinch of cinnamon. Serve immediately!
I like my vanilla ice cream just a bit soft when I'm eating it, so I take the ice cream out of the freezer before I start warming the peaches.