Preheat oven to 400 degrees. Lightly spray an 8x8" baking dish or pan with non-stick baking spray. Set aside.

With a hand or stand mixer, cream together the sugar, oil, egg yogurt and vanilla.

In a separate bowl, combine the dry ingredients; flour, baking powder and salt. Whisk together to combine the ingredients well. Gradually add the dry ingredient mixture to the wet ingredients a few spoonful's at a time, stopping occasionally to scrape down the sides of the bowl. Batter will be thick, but smooth.

Fold the diced peaches into the batter. Evenly spread the batter into the prepared baking dish/pan.

Crumb topping: In a separate bowl, combine the flour, brown sugar and cinnamon with a fork. Add in the melted butter and combine to create a crumble, gravel-like texture. Sprinkle the crumble topping over the top of the coffee cake batter.

Bake at 400 degrees for 33-35 minutes. To test for doneness, insert a toothpick into the center of the cake. If it comes out clean and crumb-free, the cake is done.

Remove from oven and let cool for 10-15 minutes. Mix together the glaze, by combining the powdered sugar and milk. Mixture will be slightly thick. Drizzle over the top of cake. Let glaze set for 10 minutes before slicing and serving.