Over medium heat, combine all filling ingredients in a saucepan and heat until boiling. Reduce heat and simmer until peaches are tender. Turn off stove and let sit while preparing topping.
To make topping, pulse walnuts and coconut in food processor until crumbly. Add maple syrup and vanilla extract and pulse again until combined.
Add peaches to 9×9 baking dish. Sprinkle crisp over top and bake 15 minutes or until lightly golden brown. Serve warm.
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