Preheat the oven to 375°F.
Peel and pit the apples then slice into even sized slices, about 1/8 inches thick.
Add the sliced apples, brown sugar, granulated sugar, cinnamon, vanilla, and lemon juice to the baking dish or cast-iron skillet. (Use a 9x13 casserole dish or 10- or 12-inch cast iron skillet.)
Toss until all the apples are fully coated and spread to lay flat in the dish.
In a separate bowl, whisk together the flour, baking powder, sugar, salt, and cinnamon.
Add the cubed cold butter and with a pastry blender or your hands, crumble the butter into a clumpy mixture. (It’s okay if you still have chunks of butter.)
Pour in the milk and mix just until incorporated and a thick batter forms. Do NOT overmix.
Using a cookie scoop or spoon, add scoops of the batter over all the apple filling. (It’s okay if there are some areas open, that will allow the apples to bubble through.)
Bake uncovered at 375°F for 45-55 minutes or until biscuit topping is slightly golden, and apple filling is bubbly.
Remove and allow the apple cobbler to cool for 5-10 minutes.
Serve with vanilla ice cream and caramel drizzle.