Preheat your oven to 350°F (175°C).
In a large bowl, combine sliced peaches, sugar, cinnamon, and lemon juice. Set aside.
In another bowl, mix flour, baking powder, salt, and brown sugar.
Add milk and melted butter to the dry ingredients, stirring until combined.
Pour the batter into a greased baking dish, spreading it evenly.
Top the batter with the peach mixture, distributing the peaches evenly.
Do not stir the peaches into the batter; let them float on top.
Bake in the preheated oven for 35-40 minutes, or until golden brown.
Allow the cobbler to cool for 10 minutes before serving.
Enjoy warm, optionally topped with vanilla ice cream!