Preheat the oven to 400 degrees F.
In a shallow baking dish, add the peaches and cover with sugar, cinnamon and vanilla. Mix together and bake for 10 minutes.
Mix together in a separate bowl, all the dry ingredients for the cobbler crust. Cut in the butter with your fingers. You should end up with a coarse texture. Now add the milk and combine until you form a soft dough.
Remove the peaches from the oven and carefully spoon the batter over the top of the fruit. Do not stir. The batter is going to form a delicious crust topping over the peaches.
Bake for 20 to 30 minutes until the fruit is bubbly and the crust is a nice golden brown.
Serve with homemade whip cream or vanilla ice cream. If you are counting calories, skip the topping and just go with the cobbler.