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

In a large mixing bowl, combine the sliced peaches, sugar, flour, cinnamon, and lemon juice. Toss gently until the peaches are well coated. This mixture will create a delicious syrup as it bakes.

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

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

Add the cold, cubed butter to the flour mixture. Using a pastry cutter or your fingers, mix until the mixture resembles coarse crumbs. This step creates a flaky texture in the topping.

Pour in the milk and vanilla extract, stirring gently until just combined. Do not overmix; a few lumps are okay.

Spoon the cobbler topping over the peach filling, spreading it out evenly but leaving some gaps for the peaches to peek through.

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 topping comes out clean.

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

Scoop the warm peach cobbler into bowls and serve with a generous scoop of vanilla ice cream if desired. The cold ice cream contrasts beautifully with the warm cobbler.