Preheat the oven to 375 degrees.
Peel and slice the peaches.
Add 6 tablespoons of sugar and 1 tablespoon of flour to the peaches and stir.
Pour peaches in a 10.5 X 7 greased baking dish. (A 9 X 9 pan would also work.)
Combine 1/2 stick melted butter, 1/2 cup milk, 1/2 cup self-rising flour, and 1/2 cup sugar into a bowl. Stir until smooth.
Pour over peaches, but do not stir.
Sprinkle the desired amount of cinnamon over the top.
Bake for 38-45 minutes or until golden brown.
Serve warm with vanilla ice cream and enjoy!