In a large skillet over medium-high heat, heat oil until shimmery and hot and then stir in honey. Place peach halves, cut sides down, in hot oil mixture. Reduce heat to medium and cook about 5 minutes, occasionally moving the peaches around so they don't stick. Peaches will begin to brown and flesh will soften.

Reduce heat to low and add orange juice and rosemary, swirling skillet to distribute evenly. Gently turn peaches over and cook for an additional 5 minutes.

To serve, drizzle rosemary-honey mixture over peaches and top with fat-free whipped cream, if desired. Enjoy!