Wash hands with soap and water for 20 seconds.
Do not taste or eat any raw dough or batter made with uncooked flour and/or raw eggs.
Heat oven to 375°F.
In an ungreased 8-inch square glass baking dish, mix together flour, baking powder, salt, and cinnamon. Stir in milk and oil with wire whisk until blended.
In a medium bowl, mix drained peaches, sugar, lemon juice, and vanilla extract. Spoon over batter in baking dish.
Bake for 50-55 minutes or until golden brown. Let stand about 20 minutes before serving.
Serve warm with whipped topping or vanilla frozen yogurt (optional – will add sugars and calories).