In a large bowl, toss the sliced peaches with the granulated sugar, lemon juice, vanilla extract, cinnamon, and cornstarch until evenly coated. Spread the peach mixture into a greased baking dish/ skillet.
In a separate bowl, whisk together the flour, sugar, baking powder, and salt. Stir in the melted butter and milk until smooth.
Pour the topping evenly over the peaches. Bake for 40–45 minutes, until the topping is golden and the filling is bubbly.
Remove from the oven and let cool slightly before serving. Serve warm with vanilla ice cream if desired.
All nutritional information provided is an estimate. For specific dietary needs or concerns, we recommend consulting a nutrition calculator or a qualified expert.