Preheat the oven to 350°F (175°C). Position rack in the center for even baking.

In a bowl, whisk together the Bisquick, sugar, and salt until fluffy.

Stir in milk and vanilla until a smooth batter forms. Don’t overmix—you want a light, tender crust.

Pour batter into a greased 9×9-inch baking dish. Evenly layer sliced peaches on top, then drizzle melted butter over the fruit. Sprinkle cinnamon evenly.

Bake for 45–50 minutes or until the top is golden brown and the filling is bubbly. If crust browns too quickly, cover loosely with foil.

Let rest for 10 minutes to thicken. Serve warm with a scoop of vanilla ice cream for extra indulgence.