Preheat your oven to 375°F (190°C) and lightly grease a baking dish.
Toss the sliced peaches with lemon juice, granulated sugar, and a pinch of cinnamon; set aside to macerate.
In a mixing bowl, whisk together flour, baking powder, salt, brown sugar, and cinnamon.
Stir in the milk, melted butter, and vanilla extract until just combined to form the batter.
Pour the batter into the prepared baking dish, spreading it evenly.
Spoon the peach mixture evenly over the batter—don’t stir.
Bake for 40–45 minutes until the top is golden and a toothpick inserted in the batter comes out clean.
Let it cool slightly before serving, and enjoy with a scoop of vanilla ice cream if you’re feeling extra cozy.