Combine the sugar and water in a saucepan over medium heat. Stir while the mixture is warming up to dissolve the sugar into the water, and keep stirring until you bring the mixture to a boil.
Cover and let the mixture boil for 5 minutes.
Turn off the heat and stir in the extract.
Cut the peaches in half and remove the pits.
Bring the syrup to a rolling boil and add the peach halves. Poach the peaches for 4-5 minutes or until soft enough to be pierced with a fork or knife tip.
Remove from the syrup using a slotted spoon and place on a plate. Remove the syrup from the heat and cool as well.
Cool until you can safely handle the peaches, then peel.
Place the cooled syrup and peaches together in a container and store in the refrigerator overnight if possible. If not, store in the syrup for as long as you can.
Prepare the raspberry sauce.
To serve, for each serving place a large scoop of ice cream in a sherbet glass. Place two peach halves on top, then drizzle with raspberry sauce.
Notes
You can leave the peaches in the fridge in the syrup for 2-3 days and make the raspberry sauce 2-3 days ahead of time. This is a great make ahead dessert!