Wash your peaches under cool water. Fill a pot with water and bring it to a rolling boil on the stove. Drop the peaches in for about 30 to 40 seconds, then scoop them into a bowl of ice water.

Peel the peaches, pull out the pits, and slice each into wedges roughly half an inch thick. Place the sliced peaches in a large bowl, add sugar, flour, lemon juice, cinnamon, and salt. Stir gently and let it sit for about 10 minutes.

In a separate bowl, whisk together flour, sugar, baking powder, and salt. Add the cold cubed butter and work it into the flour until it resembles coarse crumbs.

Pour in the milk and vanilla extract, then stir just until the dough comes together. Avoid overmixing.

Preheat your oven to 375°F. Lightly grease a 9x13-inch baking dish. Pour the peach filling into the dish and spread evenly.

Drop dollops of the biscuit dough over the top of the peaches, leaving gaps. Sprinkle coarse sugar over the dough if desired.

Bake for 30 to 35 minutes until golden-brown topping and bubbling juices are visible. Tent with aluminum foil if browning too fast.

Let the cobbler rest for 15 minutes before serving. Serve warm, ideally with vanilla ice cream or whipped cream.