Blend together the streusel dries, then add butter to make crumbs.
Slice and dice the peaches.
Blend together butter, sugar, and vanilla until light and fluffy.
Add in eggs one by one, mixing in between each addition.
Add in the flour, and then the milk, mixing until a smooth batter forms.
Fold in diced peaches by hand.
Transfer batter to the prepared pan and smooth until level.
Mix up the orange glaze.
Add peaches on top of the batter then cover in the streusel.
Bake until fully golden brown on top.
Cool fully, dust with powdered sugar, slice and enjoy!