Preheat the oven to 350°F (175°C). Line a 9×13 inch baking dish with parchment paper.
In a medium bowl, mix the flour, granulated sugar, softened butter, and salt until crumbly. Press the mixture into the bottom of the prepared baking dish.
In another bowl, combine the peach slices, brown sugar, cornstarch, ground cinnamon, and vanilla extract. Toss to coat the peaches evenly.
Spread the peach mixture over the crust in the baking dish.
Bake for 40-45 minutes, or until the crust is golden and the peaches are bubbly.
In a small bowl, whisk together the powdered sugar, milk, and lemon juice until smooth to make the glaze.
Allow the bars to cool completely before drizzling the glaze over the top.
Cut into squares and serve.
Prep Time: 20 minutes | Cooking Time: 45 minutes | Total Time: 1 hour 5 minutes
Kcal: 230 kcal | Servings: 12 bars
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