Roughly puree the chickpeas and mango. Mix the polenta with all the other ingredients, knead well by hand until the ingredients have combined to form a compact mass. With wet hands, shape the mixture into 6 burgers.
Grill the peaches
Charcoal/gas/electric grill: Grill the falafel burgers over/on a medium heat (approx. 200 °C for approx. 4 mins. on each side.