Step 1

Preheat oven to 350°F. Spray sides of 9x13-inch baking dish with cooking spray.

Step 2

Whisk together flour, sugar and baking powder in medium bowl. Whisk in vanilla and milk until smooth. Pour melted butter into baking dish. Pour batter over butter; do not stir. Spoon pie filling over batter.

Step 3

Bake 45 to 50 minutes, until fruit is bubbly, and batter is golden brown and set. Serve peach cobbler warm with vanilla ice cream.