Preheat the oven to 350ºF.

In a large bowl, combine the peaches, granulated sugar, lemon juice, and ground cinnamon. Gently toss until the peaches are evenly coated. Set aside.

Add butter to a 12-inch cast iron skillet. Place in the preheated oven until the butter is fully melted. Carefully remove the hot skillet from the oven. Let it cool slightly.

Meanwhile, whisk together all-purpose flour, granulated sugar, baking powder, and salt. Pour in whole milk and vanilla extract. Whisk until the batter is smooth and no lumps of flour remain. The texture should be similar to pancake butter.

Pour the batter over the melted butter. Don’t stir. Spoon peach wedges on top of the batter.

Bake in the preheated oven for 40-45 minutes or until golden brown and the batter is fully cooked. You can check the readiness using a toothpick inserted in the center - if it comes out clean or with a few moist crumbs, your cobbler is done baking.

While the cobbler is baking, prepare the syrupy glaze. Heat butter in a small saucepan over medium heat until the butter is melted and bubbling. Whisk in light brown sugar and maple syrup. Cook, stirring frequently, for about 3-4 minutes or until the sugar dissolves and the mixture starts to thicken.

Remove from the heat and whisk in bourbon, vanilla extract, and salt. The glaze should be smooth and glossy.

Remove the peach cobbler from the oven and let it cool for 5-7 minutes. Then, serve warm with a scoop of vanilla ice cream and drizzle with syrupy glaze!