Submerge skewers in water for 10 to 12 minutes. This will keep them from burning when grilled.
Preheat a grill pan over medium heat.
Thread fruit onto skewer, alternating types of fruit for a colorful presentation; fill the skewer no more than halfway. With a pastry brush, paint the fruit with a light coating of oil. Place skewers, a few at a time, in the hot grill pan. Turn occasionally until you have grill marks on all sides of the fruit. Serve with ice cream, if desired.