Preheat your oven to 350°F (175°C). Peel and slice peaches, then combine in a bowl with blueberries, lemon juice and zest, vanilla extract, and sugar. Toss gently.

Whisk together flour, oats, brown sugar, granulated sugar, salt, and cinnamon in another bowl. Cut in cold butter until the mixture resembles chunky crumbs.

Evenly pour fruit mixture into a greased baking dish and sprinkle crumble topping over it. Bake for 40-45 minutes until topping is golden brown.

Let cool for 10-15 minutes, then serve warm with vanilla ice cream or whipped cream.