Put peaches in in large skillet and cook until they are thawed over medium/low heat, stirring often. If using fresh, until they are softened. You may want to add about ¼-1/2 cup of water while cooking the peaches if using fresh peaches. Add cinnamon to the peaches while cooking
Mix flour, sugar, baking powder, salt, vanilla and milk in a medium bowl
Stir well
Using 1 inch scoop, scoop dough mixture on top of peaches
Over very low heat, simmer for 15-20 minutes in a covered skillet
Remove from heat and serve warm
You can add whipping cream or cool whip to the top of the peach dumplings. Vanilla ice cream would be great as well