Heat grill or a grill pan over medium heat.

Cut peaches in half and remove the pits. Lightly brush peaches with olive oil. Place cut side down on grill pan and cook until grill marks are visible (approx. 3-4 min.). Turn peaches over and cook for an additional 1-2 min. Remove and let cool.

Lay out two large pieces of aluminum foil. Divide blueberries and place in the center of the foil. Fold all edges to seal foil packet completely ( you may need to use two layers of aluminum foil). Place packet on grill or grill pan and let cook for approx. 5-10 min. until blueberries are glossy.

Cut peaches into bite size pieces and divide between four parfait glasses. Add a scoop of frozen yogurt. Top with warm blueberries. Serve immediately.