1Arrange sliced peaches in the bottom of a serving bowl; sprinkle with cinnamon.
2Combine milk, egg yolks, sugar, and flour together in a saucepan; cook and stir over medium-low heat until pudding thickens and clings to the back of a spoon, about 20 minutes. Remove from heat and stir in vanilla. Pour pudding over prepared peaches. Refrigerate until chilled, about 2 hours.
Footnotes
Cook's Notes:
You might want to have your phone or a book with you; you're going to be stirring for a while, but don't worry; it's worth it!
For richer pudding, use 3 cups milk and 1 cup heavy cream.
For an alternative presentation, fill individual dessert cups with peaches and pudding.