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Grill lemon halves, cut-sides down, over medium heat 5 to 6 minutes or until lightly charred. Grill peach wedges over medium heat 1 to 2 minutes per side or until lightly charred. Set peaches aside. Squeeze juice from lemon halves to yield 1/2 cup juice.
Bring 4 cups water to boil in medium saucepan. Add tea bags and mint. Let steep 10 minutes. Discard tea bags and mint leaves. Add sugar; stir until dissolved.
Pour tea into large pitcher. Add 3 cups cold water, lemon juice and extract; mix well. Add grilled peaches. Pour into ice-filled beverage glasses.