Preheat the oven to 375°F (190°C).
Cut the peaches in half and remove the pits carefully. If desired, you can leave the skins on or peel them.
Arrange the peach halves in a baking dish, cut side up.
In a small bowl, combine the granulated sugar, cinnamon, and brown sugar. Stir to mix well.
Drizzle the melted butter and vanilla extract over the peach halves.
Sprinkle the cinnamon-sugar mixture evenly over the peaches.
Add a few drops of lemon juice to each peach half.
Sprinkle a pinch of salt over the peaches.
Cover the baking dish loosely with aluminum foil and place it in the preheated oven.
Bake for 25-30 minutes or until the peaches are tender and the sugar mixture has melted into a syrup.
Optional: For a golden, crispy top, remove the foil in the last 5 minutes of baking.
Once baked, remove the peaches from the oven and let them cool slightly before serving.