1Heat oven to 375°F. In ungreased 8-inch square (2-quart) glass baking dish, stir Bisquick mix and cinnamon. Stir in milk and oil with wire whisk or fork until blended.
2In medium bowl, mix sugar, peaches and lemon juice. Spoon over batter in baking dish.
3Bake 50 to 55 minutes or until golden brown. Let stand about 20 minutes before serving. Serve warm with ice cream.