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Fill a large Dutch oven with water to a depth of 1 inch. Bring water to a boil. Place a steamer basket in the pot. Place peaches in the steamer basket; cover and steam for 5 minutes or until tender. Remove peaches from steamer basket and place in a large colander to drain.
Meanwhile, combine brown sugar and cornstarch in a small heavy saucepan. Stir in water. Stir in half-and-half and corn syrup. Cook and stir until thickened and bubbly (mixture will appear curdled before it thickens). Cook and stir for 2 minutes more. Remove saucepan from heat; stir in butter and vanilla.
Serve peaches drizzled with caramel sauce and, if desired, sprinkled with coarse sugar (or brown sugar). If desired, top with a scoop of frozen yogurt.