2. Bring to a simmer over medium-low heat. Cook until the peaches are tender when pierced with a knife, about 5 to 10 minutes. (Peaches can be made ahead and stored in their syrup in the refrigerator for up to 1 week. Their flavor will intensify.)
3. Remove the peaches from the liquid and set aside. Continue to simmer the liquid for about 30 minutes, until it has a syrup-like consistency. Scrape the seeds from the vanilla bean, add them to the syrup and discard the pod. Discard the cinnamon stick and cloves. Keep warm.
4. Slice the peach halves lengthwise and arrange the slices on plates. Spoon the warm syrup on and around the peaches.