Preheat oven to 325F and prepare a bundt pan with baking spray.
Mix peaches with 2 tablespoons sugar and set aside for about 15 minutes. Mix together remaining crumble ingredients. After the 15 minutes, strain the peaches through a fine mesh strainer to remove the liquid. Reserve the liquid for the glaze.
Whisk the flour, baking powder and salt in a bowl and set aside.
Whisk the sour cream, milk and vanilla in a bowl and set aside.
Use a stand mixer to beat the butter and sugars together until light and fluffy. Add eggs in 1 at a time, scraping the sides between each egg.
Alternately beat in the dry and wet ingredients, starting and ending with the dry. Scrape the bottom to make sure everything is completely mixed.
Add half of the cake mixture into the bottom of the bundt pan. Crumble the crumb filling mixture over the batter. Add the peaches on top. Spread the remaining half of the batter to the top. Make sure the peaches are completely covered.
Bake at 325F for about 50-65 minutes, rotating halfway through. A toothpick should come out mostly clean. Remove from the oven and allow to cool for at least 30 minutes. Gently flip out of the pan and cool completely.
Mix the glaze with a hand mixer. Mix the glaze ingredients together and pour over top of the fully cooled cake.