Ready to make this incredible Peach Cobbler? Just follow these steps:

1. Preheat Oven: Preheat your oven to 350°F (175°C) and grease a 9×13-inch baking dish.

1. Prepare the Peaches: In a large bowl, combine sliced peaches, 1/2 cup of granulated sugar, lemon juice, and vanilla extract. Stir gently and set aside to marinate for about 15 minutes.

1. Make the Cobbler Batter: In another bowl, whisk together the flour, remaining granulated sugar, baking powder, salt, and ground cinnamon.

1. Add Wet Ingredients: Add the milk and melted butter to the dry ingredients. Stir until just combined; do not overmix.

1. Layer the Ingredients: Pour the cobbler batter into the prepared baking dish, spreading it evenly across the bottom.

1. Add Peaches: Spoon the marinated peaches over the batter. Do not stir, as the batter will rise around the peaches while baking.

1. Bake: Place the dish in the preheated oven and bake for 30-35 minutes, or until the top is golden brown and a toothpick inserted into the batter comes out clean.

1. Cool: Once fully baked, remove from the oven and allow it to cool for 10-15 minutes before serving.

1. Serve Warm: This dessert is best enjoyed warm, preferably with a scoop of vanilla ice cream on top.