Eoin Morgans side smashed defending champions Australia by eight wickets at Edgbaston on Thursday to reach their first World Cup final since 1992.
Chris Woakes and Adil Rashid both took three wickets to help bowl Australia out for 223, before Jason Roy (85), Joe Root (49*) and Eoin Morgan (45*) took the hosts to victory.
England will face New Zealand in Sundays final at Lords after Kane Williamsons side defeated India in the first semi-final at Old Trafford.
Former England captain Cook, speaking to BBC Test Match Special, said: I cant believe I have just watched that. You always think there will be a twist in the tail but there was no twist.
England were so good. With Jofra Archer coming around it knocked the balance off the other England bowlers.
It probably took Chris Woakes a couple of games to get used to that and he has responded magnificently.
2005 Ashes-winning skipper Vaughan, meanwhile, said: England are so big and strong that they might do this to New Zealand on Sunday.
— Cricket World Cup (@cricketworldcup) July 11, 2019
Dont rule out New Zealand but if this England team arrive and play to the same standard on Sunday they could do the same again.
Another former England captain, Andrew Strauss, declared the victory over Australia as the countrys best World Cup performance.
He told Sky Sports: Englands best performance of the World Cup. The first ten overs of both innings were key and England obliterated Australia in both of those.
It was outstanding batting from Roy in particular. England will go into the final with huge confidence. They had to perform how they have over the last four years.
All smiles after an incredible win! #AUSvENG |