1/4 cup granulated sugar
1 tablespoon unsalted butter
1/2 vanilla bean
4 firm but ripe peaches, cut in quarters, pits removed
1 tablespoon lemon juice
1/2 cup freshly squeezed orange juice
1 spring rosemary
Melt butter a stainless steel skillet over medium-high heat. Sprinkle sugar over top of butter and let sugar melt. Using a sharp knife, cut vanilla bean in half and scrape out seeds with back of knife. Add seeds and pod to caramel. Swirl pan once or twice to prevent caramel from burning. When caramel is amber colored, add peaches cut side down. Cook 1 minute and turn peaches using tong to second cut side. After one minute, turn peaches skin side down. Add lemon juice, orange juice and rosemary sprig. Shake pan to dissolve caramel into juices. Simmer another two minutes.
Carefully remove peaches to a plate and keep warm. Let caramel reduce and thicken, another 2 to 3 minutes. Remove and discard rosemary and vanilla pod. Divide peaches among 4 plates and spoon caramel over. Serve immediately.