Directions

1. In a medium bowl and using an electric mixer, beat milk and pudding mix 2 minutes or until thickened. Stir in whipped topping; mix well. Refrigerate, covered, until well-chilled.
2. Coat grill rack with nonstick cooking spray. Preheat grill to medium (300°F to 350°F). Place peaches on grill. Grill 3 to 4 minutes per side. Transfer to a cutting board; chop peaches. Place in a large bowl; set aside.
3. In a deep 1-quart microwave-safe bowl combine butter and sugar. Microwave on HIGH 30 to 60 seconds, carefully stirring every 30 seconds. (Mixture will be very hot and sticky.) Stir in lemon juice and vanilla; let cool 5 minutes. Add to peaches; stir to coat.
4. In each of 4 parfait glasses layer 2 1/2 tablespoons of the peaches and 1/4 cup pudding mixture; repeat layers twice. Garnish with praline pecans, and serve.