Preheat your oven to 350°F.Slice the peaches in half and then in six wedges. Pour them into a well-greased 2-quart baking dish. Add sauce ingredients to a small bowl, including tapioca flour, maple syrup, lemon juice, cinnamon, vanilla extract, and salt. Mix with a fork until well combined. Pour the sauce over the peaches.
Add the wet cobbler ingredients to a medium-sized mixing bowl, including egg, maple syrup, milk, coconut oil, vanilla, and apple cider vinegar. Stir with a whisk until the egg is well combined.
Add the dry ingredients to the bowl, including almond flour, oat flour, tapioca flour, baking powder, and salt. Stir with a spatula until well combined. It should be the consistency of a thick pancake batter. You can add more oat flour, or milk to adjust if needed.
Spread the cobbler batter over the peaches. You can spread it as one solid layer, or spread it in plops to allow the fruit to show through the cracks.
Bake your cobbler in a 350°F oven for 35-38 minutes. You'll know it's done when the top of the cobbler begins to turn a golden brown. The fruit will be bubbly when you remove the cobbler from the oven but shrink as it cools. Remove the cobbler and cool for at least 20 minutes before serving.