Heat grill on medium heat. Brush grill with canola oil.
In a small bowl, whisk together 2 tablespoons canola oil, lime juice, brown sugar, balsamic vinegar and cinnamon.
Grill peaches 3 to 4 minutes on each side; grill lemon loaf until grill marks appear. Remove peaches and lemon loaf from grill.
Place peaches on top of lemon loaf slices and drizzle with prepared dressing.
Garnish with German chocolate shavings and mint sprigs, and serve with ice cream.