Purée the raspberries and icing sugar together in a blender or food processor. Pass through a sieve and discard the seeds.
Stir the sugar, vanilla pod and 600ml/1pt water in a pan over a low heat until the sugar has completely dissolved.
Bring the sugar syrup to the boil, and add the peaches, ensuring that they are covered with the syrup. Simmer for 5 minutes or until tender, then remove the peaches with a slotted spoon and carefully remove the skin.
To serve, put a scoop of ice cream on each plate, add a peach and spoon raspberry purée on top.