Prepare the madeleines according to the linked recipe and let them cool completely. They can be baked ahead or made just before assembling the trifle.
Beat the heavy cream with ½ cup sugar and the vanilla until stiff peaks form. Transfer half of the whipped cream to a separate bowl; this will be the Chantilly cream.
Remove the skin and pits and purée 2 of the peaches with the remaining ¼ cup sugar and the lemon juice until smooth.
Gently fold the peach purée into the whipped cream left in the mixing bowl to make the peach mousse.
To assemble - slice the remaining two peaches. Set aside. Arrange a layer of madeleines in the bottom of a trifle dish. Spoon over some peach mousse, followed by Chantilly cream, sliced peaches, and raspberries. Repeat the layers, finishing with cream, fruit, and a few madeleines on top.
Dust with powdered sugar just before serving. Serve immediately or cover and refrigerate until ready to serve.