Preheat your oven to 375°F (190°C).
Prepare the peaches: In a bowl, combine drained peaches, 1/2 cup sugar, cinnamon, vanilla, and lemon juice. Set aside.
Make the batter: In a separate bowl, whisk together flour, 3/4 cup sugar, baking powder, and salt. Slowly add milk and mix until smooth. Stir in melted butter.
Assemble the cobbler: Pour the batter into the greased baking dish. Do not stir. Spoon the peach mixture evenly over the top of the batter. It may look like a mess, but trust the process—it bakes beautifully.
Bake for 35–40 minutes, or until the top is golden brown and a toothpick inserted in the middle comes out clean.
Cool for 10 minutes before serving. Serve warm, optionally with a scoop of vanilla ice cream or whipped cream.