Preheat oven to 350* Grease of line a muffin pan.
For the crumb coating: Combine all of the ingredients together until well combined and crumbly. Set aside.
For the muffins: In a mixing bowl, combine the flour, baking soda, and baking powder. Set aside.
In another mixing bowl, mix the quartered peaches with the butter, eggs, sugars, cinnamon, vanilla, and milk.
Add in the flour mixture and mix well to combine.
Fill the muffin tins evenly halfway and spread 1 tablespoon of crumb topping on top of each.
Bake for 15-20 minutes or until cooked through in the center.
For the glaze: Mix the reserved peach juice with the milk, powder sugar, and lemon extract. Continue to mix until a smooth consistency. If thick, add another tablespoon of milk.