Grilled Peaches with Yogurt Whipped Cream and Oat Crunch

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Yogurt Whipped Cream:

1/4 cup full-fat plain Greek yogurt

1/2 cup heavy cream

1 teaspoon vanilla bean paste

1 1/2 teaspoons packed light brown sugar

1/2 teaspoon finely grated lemon zest

Oat Crunch:

1 tablespoon unsalted butter

1/2 cup old-fashioned rolled oats

1/4 cup raw slivered almonds

1/2 teaspoon kosher salt

2 tablespoons honey

1 tablespoon packed light brown sugar

6 fresh basil leaves, thinly sliced into ribbons

Peaches:

2 teaspoons packed light brown sugar

2 tablespoons freshly squeezed lemon juice

2 tablespoons honey

4 firm-ripe peaches,