In a 9-inch pie plate, combine the peaches and juice, tapioca, and cinnamon and stir to combine.
In a small bowl, mix the Bisquick and milk to form a dough. Top the peaches with 6 equal-sized dollops of dough.
Bake for 25 to 30 minutes, and serve warm with whipped cream or ice cream, if desired.
Recipe Tips
You can use other canned fruit instead of peaches.
If using fresh peaches, cut up enough peaches to yield about 4 cups of cut peaches. Add 3 tablespoons of sugar to the peaches and wait for juice to form.