Make your caramel sauce by combining the sugar and 1/4 cup water in a medium stainless-steel saucepan. Heat over medium-high heat. Boil until the sugar has completed melted and taken on a light caramel color, about 10 minutes. Remove from the heat and slowly stir in the cream until completely combined and smooth. Let cool slightly, then whisk in the Tokyo sauce and salt. Set aside to cool (the caramel will continue to thicken as it cools). Heat a grill or grill pan to medium-high heat. Cut each peach in half and remove the pit. Brush peaches with Tokyo sauce and sprinkle with a pinch of sugar. Grill, cut side down, until golden brown, about 5 minutes. Flip oven and continue grilling until warmed through, about 2 minutes more. Transfer to a serving platter. Top each peach half with a dollop of whipped cream (or ice cream if you prefer!), a drizzle of Tokyo caramel sauce and a sprinkle of crushed honey-roasted peanuts. Serve warm or at room temperature.