Preheat the oven to 350 °F.
Grease a 9-inch baking or cake pan and set aside.
Heat a pot of water on the stove to the boiling point.
Measure one-quarter cup of lemon pudding mix and set aside.
In a medium bowl, add three-quarters of a cup of granulated sugar, one cup of Bisquick, and the remaining one-quarter cup of pudding mix.
Stir in one-half cup of milk, one-quarter cup of melted butter, one and one-half teaspoons of vanilla extract, and the zest of two lemons. Mix until smooth.
Pour the batter into the prepared pan, dispersing it into the corners.
In a small bowl, mix the remaining quarter cup of granulated sugar and the remaining quarter cup of lemon pudding mix. Mix until incorporated and sprinkle evenly over the cobbler batter.
Pour one and one-quarter cups of boiling water over the top of the sugar/pudding mixture, and do not stir.
Bake for thirty minutes or until a toothpick inserted into the middle of the cobbler comes out clean.
Remove the cobbler from the oven and let cool for ten minutes before serving.
Serve with cool whip or vanilla ice cream if desired.