I assume that the recipe is called 'not quite peach melba' because the peaches are grilled, not poached. Anyway, it seems like a super easy way to do it, and I really liked it.
Halve the peaches, sprinkle with sugar, grill. Serve topped with almonds (toasted with icing sugar in the recipe), ice cream and raspberry sauce.
Modifications? Many. I didn't peel the skin off the peaches afterwards - they were too hot (although the recipe did say that was allowable). The raspberry sauce was a last minute effort with some frozen raspberries mashed up (the grilling time for the peaches was not enough time to make and cool raspberry coulis) and I used almond ice cream, rather than the vanilla in the recipe.