Preheat the oven to 350 degrees. Prepare an 8x8 or 9x9 baking dish, or pie dish by lightly greasing. Set aside.
Give your peaches a rough chop (skin on). Heat a large pot to medium heat. Toss in peaches, cinnamon, lemon juice, and maple syrup. Heat to a simmer and continue to stir for about 5 minutes. The peaches will begin to soften, and more juices will form. Set aside to cool.
Make the cobbler topping by stirring together the dry ingredients into a medium sized bowl. In a seperate smaller bowl, beat together the butter, sugar, and vanilla extract until light and fluffy (about 2 minutes). Slowly stir in the dry ingredients and beat, or use a rubber spatula to combine until no dry pockets remain.
Pour the peaches and their juices in your prepared dish. Crumble the cooking topping all over the top using your fingers. Transfer to the oven.
Bake for 25 minutes, or until the top is golden brown. Remove from oven and let sit for at least 10 minutes before serving. This allows the syrup to slightly thicken. Serve hot.