To a food processor, add the red peppers, peaches, almonds, garlic, parsley, mint, vinegar, and olive oil and process until smooth. Season with salt and pepper, to taste.
Meanwhile, cut each cauliflower in half down the core, then cut one 1-inch steak from the cut side of one half, and another 1 inch steak from the cut side of the other half. Repeat with the second cauliflower. Keep any remaining bits for a side dish or soup.
Preheat grill over medium high heat. In a large bowl or dish, rub the cauliflower with the olive oil, lemon juice and paprika. Season with a pinch each of salt and pepper.
Cook with the lid closed for 6-9 minutes on each side or until fork-tender and lightly charred.
Serve the cauliflower with the romesco sauce, topped with almonds, peaches, lemon zest, mint and parsley.