Preheat oven to 350°F
Mix peaches with ½ the juice, vanilla, and brown sugar in a bowl
Add cinnamon to taste
In another bowl, combine ½ cup self-rising flour, ½ cup milk, and ½ cup white sugar to make the batter
Pour melted butter into a preheated baking pan
Pour batter into the pan with melted butter
Add peach mixture to the pan
Bake at 350°F for about 45 minutes until golden brown
