Combine oats, rice cereal, nut butter, and honey together in a large bowl, mixing gently so the crispy rice cereal doesn’t get crushed. Mix until well-combined. Refrigerate mixture for 20-30 minutes. Scoop teaspoon-sized portions & roll into small balls. Place balls on plate and set aside.
Add the ice cream & chopped peaches to a bowl. Fold peaches gently into ice cream.
Fill popsicle molds 1/3 of the way, then drop 2 granola balls in. Fill another 1/3 full with ice cream, then drop in 2 more granola balls. Fill mold with remaining 1/3 (each popsicle will hold about 1/2 cup of ice cream.)
Freeze the pops until solid, about 4 hours. To release the popsicles just run the molds under warm water for 10-15 seconds.