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Preheat oven to 350 degrees F. Line a 9"x 13" baking dish with parchment paper and coat with non-stick cooking spray.
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In a large bowl, beat together sugar and butter until light and fluffy, 1 to 2 minutes. Add eggs and vanilla; mix to combine. Alternate adding milk and dry ingredients, beating after each addition until mixture is smooth and has just come together.
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Mix in 1/2 can pie filling into batter (about 1 cup). Pour batter into prepared baking dish. Using a fork, remove remaining peaches from can and distribute evenly oven top of buckle.
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In a medium bowl, combine all topping ingredients with a fork until a crumb mixture forms. Sprinkle topping evenly over buckle.
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Bake for 40 to 50 minutes, until golden and a toothpick inserted in the center comes out clean.
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Remove from oven and cool on a wire rack. Sprinkle with powered sugar once cooled. Serve with vanilla ice cream if desired.