Preheat your oven to 350°F (175°C). This ensures that the cobbler bakes evenly.

In a large mixing bowl, combine the sliced peaches, sugar, flour, cinnamon (if using), and lemon juice. Toss gently until the peaches are well coated. The sugar will draw out the juices from the peaches, creating a flavorful filling.

Pour the peach mixture into a greased 9x13 inch baking dish, spreading it evenly.

In another mixing bowl, whisk together the flour, sugar, baking powder, and salt. This dry mixture will create the base for the topping.

Add the milk, melted butter, and vanilla extract to the dry ingredients. Stir until just combined; do not overmix to keep the topping light and fluffy.

Pour the batter evenly over the peach filling in the baking dish. Do not stir; the batter will rise and create a beautiful crust as it bakes.

Place the baking dish in the preheated oven and bake for 35-40 minutes, or until the topping is golden brown and a toothpick inserted into the center comes out clean.

Once baked, remove the cobbler from the oven and let it cool for about 10 minutes before serving. This allows the juices to set slightly.

Serve warm, ideally with a scoop of vanilla ice cream or whipped cream for an extra treat!