Optional step: Plunge peaches in boiling water for 1 minute, remove and place into an ice water bath for 5 minutes. Peel peaches. (We did not peel peaches for testing purposes.)
Pit peaches and cut into wedges. Toss peaches, lemon juice, maple syrup, and salt in a bowl. Heat butter until melted. Add peach mixture. Let cook, stirring occasionally, until caramelized. About 10 minutes. Stir in vanilla.