Preheat the oven to 400°. In a small saucepan, combine the sugar with the water, vanilla bean and scrapings, cinnamon stick and salt. Cook over moderate heat, stirring frequently, until the sugar dissolves. Pour the syrup into a large baking dish. Arrange the peaches in the syrup, cut side up, and bake for 30 minutes, basting frequently. Spoon the peaches and syrup into bowls and serve warm with ice cream.