In a large bowl, toss the sliced peaches with the sugar, lemon juice, vanilla extract, cinnamon and cornstarch until evenly coated. Spread the peach mixture into a greased skillet.
In a separate bowl, whisk together the flour, sugar, baking powder and salt. Stir in the melted butter and milk until smooth.
1 cup all-purpose flour, ¾ cup granulated sugar, 1½ teaspoons baking powder, ½ teaspoon salt, ½ cup unsalted butter, ¾ cup whole milk
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 for 10–15 minutes before serving. Serve warm with vanilla ice cream if desired.
1 pint vanilla ice cream
Notes
Make-ahead: The peach filling can be prepared up to 24 hours in advance and stored covered in the refrigerator. Assemble and bake just before serving for best texture.Storage: Store leftover cobbler covered in the refrigerator for up to 4 days. Reheating: Reheat individual portions in the microwave for 30–45 seconds. For larger portions, reheat in a 300°F (150°C) oven until warmed through.Freezing: Freeze after baking and cooling completely. Wrap tightly and freeze for up to 2 months. Thaw overnight in the refrigerator and reheat before serving.