Lightly coat grill with cooking spray and preheat to high.
In a small bowl, combine mascarpone, honey, and orange zest or vanilla. Brush peach halves with canola oil. Grill peaches, cut side down, for 3 minutes, until grill marks form. Turn and grill for an additional 3 minutes.
Remove and spoon a dollop of mascarpone mixture into each center. Top with raspberries and garnish with toasted almonds. Serve warm.