Preheat oven to 375 degrees.
Place large cast iron skillet in the oven while it preheats.
Add sliced peaches to a large bowl and toss with the brown sugar.
In a separate large bowl mix together flour, white sugar, baking powder, vanilla, and milk. Set aside.
Once the oven is ready remove the skillet and pour in the peaches, covering the bottom.
Now drizzle with the melted butter.
Next pour the batter from the large bowl on top of the peach mixture.
Slide the skillet into the center of the oven and bake for 45 minutes until golden and bubbly.
Scoop into bowls and top with a scoop of vanilla ice cream then serve.