Preheat your oven to 350°F (175°C).

In a mixing bowl, combine the sliced peaches, 1/2 cup of sugar, lemon juice, and vanilla extract. Let this mixture sit for about 10 minutes to enhance the peach flavor.

In another bowl, whisk together the flour, baking powder, the remaining sugar, salt, and cinnamon. Slowly stir in the milk and melted butter until smooth.

Pour the batter into a greased baking dish, spreading it evenly across the bottom. Carefully add the peach mixture on top, ensuring that it sits evenly in the batter (don’t stir!).

Place the baking dish in the preheated oven and bake for 40-45 minutes, or until the top is golden brown and a toothpick comes out clean when inserted.

Once done, let it cool for a few moments before serving. It’s heavenly when served warm with a scoop of ice cream or whipped cream on top!