In a pot simmer water over high flame for about 10 mins. Boil the peaches in the simmering water until they loosen their skin, about 1-2 mins.
Transfer the peaches in cold water and peel them. Cut them in half.
Combine 1 cup sugar and 2 cups water in a pot. Scrape the vanilla seed in the pot. And bring to boil. Stir until sugar dissolves. Add peaches to this sugar syrup and simmer for 5 mins.
Cool the peaches in the pot itself for 1-2 hours.
Blend the raspberries in a processor and strain through a sieve in a bowl. Add the 1/3 cup sugar and lemon juice. Stir until sugar dissolves.
To serve, take glasses as shown in picture and put a layer of poached peaches, followed by layer of vanilla ice cream. Repeat the layers again. Pour over the raspberry sauce and top it with a cherry.