Preheat oven to 375°F. Spray baking dish or cast iron skillet with nonstick cooking spray. Add peaches, 2 tbsp. maple syrup and cinnamon. Toss to coat peaches. Bake about 20 minutes, or until tender and syrupy.
While your peaches bake, prepare your polenta. Start by bringing milk, vanilla and 1 tablespoon maple syrup to a simmer in medium saucepan. Add polenta. Cook about five minutes, stirring frequently, or until thick and creamy.