Preheat a clean grill to about 350-400 degrees. Drizzle halved peaches with olive oil. Place peaches open face down onto the preheated grill, grill for about 3-5 minutes. Rotate slightly to obtain the cris-cross grill marks, and grill for another 3-5 minutes. Slice for serving.

Cook diced pancetta, and drain onto the paper towel lined plate. Set aside.

In a bowl or large salad plate, combine the arugula, chopped walnuts, cooked pancetta, and crumbled goat cheese. Arrange grilled sliced peaches onto the salad. Season the whole salad with salt and pepper, and drizzle with balsamic glaze.