Preheat oven to 350 degrees F . Grease and flour a 9x13 inch pan or two 9 inch round pan. To Make the streusel topping, combine flour, sugars and cinnamon.

Cut in butter until mixture resembles coarse crumbs. Set aside.

Fold together diced peaches, cinnamon and brown sugar. Set aside.

To make the cake, beat together butter and sugars until soft and fluffy, stir in vanilla.

Add eggs, one at a time, incorporating fully before each addition.

Stir yogurt into the batter.

In a separate bowl, combine flour, baking powder, and salt.

Whisk flour mixture into the batter, until just combined.

Finally, stir in milk.

Pour half of the batter into the greased pan.

Layer with the diced peaches, then pour the final layer of batter over the peaches.

Top with Streusel topping.

Bake cake(s) for 50-55 minutes or until a knife is inserted and comes out clean.

Serve warm and top with simple vanilla glaze if desired.