Prep peaches – Cut peaches in half and remove pits. Brush lightly with olive oil.
Grill peaches – Place cut-side down on a hot grill or grill pan. Cook 2–3 minutes until caramelized and grill marks appear.
Toast walnuts – In a dry pan, toast walnuts for 2–3 minutes until fragrant.
Assemble salad – Place arugula on a large platter or divide onto plates. Top with grilled peaches, crumbled goat cheese, and walnuts.
Dress it – Drizzle with balsamic glaze, a touch of olive oil, and honey if using. Season with salt and pepper.
Serve immediately – Best enjoyed while peaches are warm.