Preheat and Prep: Preheat the oven to 375°F and lightly grease or spray a 9x13-inch baking dish.
Make the Peach Filling: To the prepared baking dish, toss the peaches with the brown sugar, cornstarch, lemon juice, salt, cinnamon, and vanilla until evenly coated. Spread into an even layer.
Make the Topping: In a medium bowl, combine the oats, flour, brown sugar, cinnamon, and salt and stir to combine. Pour in the melted butter and stir until the mixture is evenly moistened and clumps together when pressed.
Assemble and Bake: Crumble the topping evenly over the peaches in rough, irregular clusters, keeping some bigger and some smaller for the best texture.
Bake for 45-50, or until the topping is deep golden brown and the peach filling is bubbling around the edges. Let rest for 10-15 minutes before serving, as the filling will thicken as it sits.
Serve: Scoop into bowls and serve warm with vanilla ice cream or whipped cream if that’s your thing.