Heat your oven to 400°F (205°C).
Prepare the peaches: Halve and pit the peaches, then cut the halves into wedges. Toss them with lemon juice.
Make the caramel sauce in a skillet, then parcook the peaches in the caramel.
Make the crisp topping by mixing all the topping ingredients and sprinkling it over the peaches.
Bake in the oven until peaches are tender and topping is brown, about 20 minutes.
Let the crisp cool for 10 minutes before serving with ice cream and a drizzle of reserved caramel sauce.
