Bring a large pot of water to a rolling boil, score the bottom of each peach with a shallow X, and boil for 45 seconds to 1 minute before transferring to an ice bath to cool and peel.

In a large saucepan over medium heat, combine 2 cups water, 3/4 cup sugar, 1 tablespoon lemon juice, and 3 to 4 cloves; add the split vanilla bean and stir until sugar dissolves, about 3 to 5 minutes.

Gently add peeled peaches to the simmering poaching liquid, maintain a gentle simmer, and poach for 8 to 12 minutes until tender but holding shape.

Use a slotted spoon to transfer peaches to a shallow dish; cool to room temperature, then cover and refrigerate for at least 1 hour.

In a small saucepan over medium-low heat, combine raspberries, 1/4 cup sugar, and 1 tablespoon lemon juice and cook for about 3 minutes until berries soften and release juice.

Stir 1/2 teaspoon cornstarch slurry into the raspberry mixture and cook for 1 more minute, stirring constantly, until the sauce thickens.

Strain the raspberry sauce through a fine-mesh strainer into a bowl, pressing gently to remove all seeds for a smooth texture.

Assemble by placing a scoop of vanilla ice cream in a shallow bowl, topping with a chilled peach half, drizzling with raspberry sauce, and garnishing with toasted almonds and fresh mint. Serve immediately.