Preheat your oven to 350°F (175°C). Grease a baking dish (9x9 inches is ideal) with a bit of butter or cooking spray.
In a mixing bowl, combine the sliced peaches, granulated sugar, lemon juice, and vanilla extract. Mix gently and set aside to let the juices meld while you prepare the batter.
In another bowl, whisk together the flour, baking powder, salt, and cinnamon.
Add in the milk and melted butter, stirring until just combined. Be careful not to overmix; you want it to remain slightly lumpy.
Pour the batter into the prepared baking dish, spreading it evenly across the bottom.
Spoon the peach mixture over the batter, making sure to evenly distribute the peaches and their juices on top.
Bake in the preheated oven for 35-40 minutes, or until the top is golden brown and a toothpick inserted in the center comes out clean.
While the cobbler is baking, prepare the whipped cream. In a medium bowl, beat the heavy cream and powdered sugar using an electric mixer until soft peaks form.
Once the cobbler is done, remove it from the oven and let it cool for about 10 minutes. Serve warm with a generous dollop of whipped cream on top.
Notes
Serve warm with whipped cream and garnish with mint leaves for a pop of color.