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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.
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Cut in butter until mixture resembles coarse crumbs. Set aside.
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Fold together diced peaches, cinnamon and brown sugar. Set aside.
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To make the cake, beat together butter and sugars until soft and fluffy, stir in vanilla.
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Add eggs, one at a time, incorporating fully before each addition.
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Stir yogurt into the batter.
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In a separate bowl, combine flour, baking powder, and salt.
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Whisk flour mixture into the batter, until just combined.
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Finally, stir in milk.
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Pour half of the batter into the greased pan.
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Layer with the diced peaches, then pour the final layer of batter over the peaches.
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Top with Streusel topping.
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Bake cake(s) for 50-55 minutes or until a knife is inserted and comes out clean.
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Serve warm and top with simple vanilla glaze if desired.