Preheat the oven to 375°F. Rinse and pit the peaches and evenly slice the peaches. (Don’t slice the pieces great than ½ inch thick.)
Add the sliced peaches, sugar, cornstarch, vanilla, cinnamon and lemon juice to a 9×13 casserole dish or a 12-inch cast iron and toss until well combined.
6 medium fresh peaches, sliced, 1/2 cup brown sugar, 2 Tbsp cornstarch, 1 tsp vanilla extract, 2 tsp cinnamon, 2 tsp lemon juice
In a mixing bowl, combine the flour, sugar, baking powder, salt, and cinnamon.
1 1/2 cups all-purpose flour , sifted, 2 tsp baking powder, 1/2 cup granulated sugar, ¼ tsp salt, 1 tsp ground cinnamon
Add the cold, cubed butter to the dry mixture. Using a pastry cutter, two forks, or your fingertips, work the butter into the flour until the mixture resembles coarse crumbs. (The butter pieces should be about the size of small peas after mixing.)
1 stick unsalted butter , cold & cubed
Pour in the cold milk and stir gently until the dough just comes together. (The dough will be shaggy and lumpy, do NOT overmix the batter.)
1/2 cup whole milk
Spoon the biscuit batter over the prepared fruit filling all over the fruit, it's okay to leave some open spaces, that will leave for the juices to bubble through.
Bake at 375°F for about 45-50 minutes, or until the biscuit topping is golden and the fruit is bubbly.
Remove from the oven and allow it to cool for 5-10 minutes.
Serve warm with a scoop of vanilla ice cream.