Preheat the oven to 350 degrees. In a 7x11 baking dish, add the butter and place it into the oven just until it is melted.
In a mixing bowl add self-rising flour, brown sugar, white sugar, milk and vanilla extract. Whisk together until smooth and no lumps are present.
Pour the mixture into the baking dish on top of the melted butter, make sure not to stir together. Then pour one drained can and one undrained can of peaches on top. DO NOT STIR.
Sprinkle cinnamon on top then bake at 350 degrees for 45-50 minutes until the top is golden brown and the dough is fully cooked. Allow this to cool for 10-15 minutes then serve while warm with a side of vanilla ice cream.
