Preheat your grill to 375°F–400°F (medium-high heat) and allow it to come fully to temperature.
Place the halved Yukon Gold potatoes in a large roasting pan or grill-safe baking dish. Drizzle with olive oil, then sprinkle with salt, paprika, and black pepper. Toss to coat evenly.
Nestle the rosemary sprigs among the potatoes, distributing them evenly for maximum flavor.
Arrange the halved potatoes in the pan, either cut side up for a soft, golden top or cut side down for a deeper caramelized crust. Close the grill lid and cook for about 15 minutes, or until the cut sides are golden.
If the potatoes haven’t browned yet, continue grilling for an additional 3–5 minutes with the lid closed.
Then, flip the potatoes over—if you started with the cut side up, place it down now to get a bit of crispness. Close the lid again and cook for another 10–15 minutes, or until the potatoes are fork-tender and beautifully golden on both sides.
Remove from the grill and serve hot, garnished with extra rosemary if desired. Enjoy!