Prepare the Peach Filling

1. Preheat the Oven: Preheat your oven to 350°F (175°C).
2. Combine Filling Ingredients: In a large mixing bowl, combine the sliced peaches, sugar, lemon juice, cinnamon, cornstarch, and a pinch of salt. Toss until the peaches are well coated.
3. Transfer to Baking Dish: Pour the peach mixture into a greased 9×13-inch baking dish, spreading it evenly.

Make the Cobbler Topping

1. Mix Dry Ingredients: In another bowl, whisk together the flour, sugar, baking powder, and salt.
2. Add Wet Ingredients: Stir in the melted butter, milk, and vanilla extract until just combined. Do not overmix; it’s okay if there are lumps.
3. Spoon Topping Over Peaches: Pour the cobbler batter over the peach filling, spreading it evenly. It’s fine if the peaches peek through.

Bake the Cobbler

1. Bake in Preheated Oven: Place the baking dish in the oven and bake for 40-45 minutes, or until the topping is golden brown and a toothpick inserted comes out clean.
2. Cool Slightly: Remove from the oven and allow to cool for 10-15 minutes before serving.