Preheat oven to 400?F and line a cupcake pan with paper liners.

In a small bowl, whisk together flour, granulated sugar, brown sugar, and cinnamon for the crumb topping. Add melted butter and stir until crumbly. Refrigerate.

In a large bowl, stir together 1 cup flour, baking powder, and salt.

In a medium bowl, whisk sugar and eggs until combined. Whisk in yogurt, vegetable oil, and vanilla until pale.

Fold the wet ingredients into the dry ingredients until combined.

Reserve 1 cup of the chopped peaches for topping. Dust the remaining peaches with 1 tablespoon flour and toss to coat, then fold gently into the batter.

Fill muffin tins 2/3 full with batter and gently press the reserved peaches on top. Sprinkle crumb topping over muffins.

Bake for 5 minutes at 400?F, then lower the temperature to 375?F and continue to bake for 15 minutes or until a toothpick comes out clean.

Cool in the pan for 5 minutes, then transfer to a wire rack.

For the glaze, stir together powdered sugar, vanilla, and milk. Adjust the consistency with more powdered sugar or milk as needed and drizzle over muffins.