Preheat your oven to 375°F (190°C) and lightly grease a 9x13 inch baking dish with butter or nonstick spray.
In a large mixing bowl, combine the frozen sliced peaches, granulated sugar, cornstarch, lemon juice, cinnamon, salt, and vanilla. Toss gently with a rubber spatula until evenly coated.
Pour the coated peach mixture into the prepared baking dish and spread into an even layer.
In a medium bowl, whisk together the flour, rolled oats, brown sugar, cinnamon, and salt until well combined.
Add the cold cubed butter to the dry mixture and use a pastry blender or fork to cut it in until the mixture resembles coarse, pea sized crumbs. Fold in chopped pecans if using.
Sprinkle the crumbly oat topping evenly over the peach filling, covering completely without pressing down.
Bake for 40 to 45 minutes until the topping is deep golden brown and the peach filling is bubbling around the edges. Tent with foil if browning too quickly.
Remove from the oven and let rest for 10 to 15 minutes before serving. Serve warm with vanilla ice cream or whipped cream if desired.