Preheat grill to medium heat.
Melt butter in a small bowl in the microwave, stir in brown sugar and cinnamon.
Brush butter and sugar mixture over peaches and nectarine halves.
Place on oiled grill cut side down, grill for 3 minutes or until char marks appear.
In two bowls, scoop gelato and place one half each of grilled peach and nectarine on top.
Pour caramel drizzle over everything, then add whipping cream, sprinkle with chopped pecans and top it all off with a few halved cherries. Enjoy!