Preheat oven to 350 degrees F. Line a 13x9 baking dish with parchment paper.

In a large mixing bowl, beat melted butter with powdered sugar, flour, and vanilla extract until crumbly.

Remove 1/2 cup of the crumb mixture and set aside for topping. Pour remaining crumbs into prepared baking dish and press down evenly.

In a bowl, mix the peach pie filling with cinnamon. Spread over the crust layer.

Sprinkle the reserved crumb mixture over the filling.

Bake for 30 minutes or until edges are golden. Let cool slightly.

In a small bowl, whisk together powdered sugar, cinnamon, and milk to make glaze. Drizzle over warm bars and cool completely before slicing.