Step 1

Preheat the oven to 350 degrees F.

Step 2

Pour the melted butter in a 9x13-inch baking dish, evenly coating the bottom and the sides.

Step 3

In a medium saucepan over medium heat, add the peaches and their juices.

Step 4

Add 1 cup of the sugar and 1/2 cup of the water to the peaches and bring to a simmer.

Step 5

In a small bowl, stir the cornstarch into the remaining water.

Step 6

Stir the cornstarch mixture into the peach mixture and simmer until the sauce thickens, about 3 minutes.

Step 7

Transfer the peach mixture from the heat and let it cool slightly.

Step 8

While the peach mixture cools, in a medium bowl, whisk the flour, the vanilla, 1 1/2 cups of the sugar, and the milk together.

Step 9

Pour the peach mixture into the prepared baking dish.

Step 10

Spoon the flour mixture over the peach mixture.

Step 11

In a small bowl, combine the cinnamon and the remaining sugar.

Step 12

Sprinkle the cinnamon-sugar over the cobbler.

Step 13

Bake the cobbler until the top is golden-brown, about 30 minutes.

Step 14

Serve topped with the vanilla ice cream.