Preheat your oven to 350°F (175°C) and grease a 9x13 inch baking dish.

In a bowl, combine sliced peaches, ½ cup sugar, cinnamon, and lemon juice. Mix gently and set aside.

In another bowl, whisk together flour, ½ cup sugar, baking powder, and salt. Gradually stir in milk, melted butter, and vanilla until smooth.

Pour the batter into the greased baking dish, spreading it evenly.

Spoon the peach mixture evenly over the batter without stirring.

Bake for 40-45 minutes until the top is golden brown and a toothpick comes out clean.

Let cool for 10-15 minutes, then cut into squares and serve warm or at room temperature.