Place hazelnuts on a baking sheet. Bake at 350° for 15 minutes, stirring once. Turn nuts out onto a towel. Roll up towel; rub off skins. Chop nuts.
Combine hazelnuts, peaches, and sugar in a large bowl, tossing to coat. Arrange peach mixture in a single layer on a broiler pan coated with cooking spray; broil 5 minutes or until lightly browned. Cool.
Spoon 1/3 cup ice cream into each of 6 bowls; top each serving with 1 cup peach mixture and 2 teaspoons grated chocolate.