Peel the beets and cut into desired chunks. Roast or boil them until cooked (when you can stick a fork into them).
Slice + grill the peaches (either on a grill pan or an actual grill). Make sure the pan or grill is oiled a bit at first, and let the peaches sit undisturbed until grill marks form. Set aside.
Combine the lettuce, sliced cucumbers, scallions, beets, and peaches into a bowl with some olive oil + salt and pepper. Lightly toss.
Add the goat cheese, basil, sesame seeds, and balsamic glaze on top.