Preheat oven to 350 degrees and prepare a 9×13 baking dish with non stick spray.
Drain the canned peaches and cut each slice into 2-3 thinner slices, set aside.
In a large bowl, combine the cake mix, vanilla pudding mix, sour cream, oil, eggs and vanilla and mix until well combined, a hand mixer or stand mixer works well for this.
Pour the batter into the prepared baking dish and spread out evenly, the batter will be a little thick.
Top the batter with the sliced peaches, covering the entire cake.
In a small bowl, prepare the topping by combining the flour, sugar, melted butter and cinnamon and mix together until the topping is nice and crumbly. Sprinkle the batter all over the top of your peaches.
Bake for 45-50 minutes, watch the cake around 40-45 minutes and pull it out soon as a toothpick comes out clean. Set the cake out to cool completely.
Once cooled, prepare the powdered sugar glaze by mixing the powdered sugar and vanilla together, add 2-3 tbsp of the heavy cream or milk and keep adding more until the desired consistency has been reached.
Drizzle all over the top, slice and enjoy! Can be stored covered at room temperature.