Roasted Peach Sundae Sauce

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4 peaches, peeled and sliced, or one 16-ounce bag frozen peaches

3 tablespoons dark brown sugar 

2 tablespoons unsalted butter 

3 tablespoons honey 

1/4 teaspoon ground cinnamon 

1 lemon, juiced 

Kosher salt 

2 teaspoons pure vanilla extract 

Vanilla ice cream, for serving