1. Whisk together all-purpose flour, granulated sugar, baking powder, and salt in a mixing bowl.

2. In a separate bowl, mix eggs, whole milk, melted butter, and vanilla extract until smooth.

3. Combine wet and dry ingredients until just incorporated, being careful not to overmix.

4. Spoon or pipe the batter into a greased donut pan, filling each cavity about ¾ full.

5. Bake at 350°F (175°C) for 10–12 minutes, until lightly golden and springy to the touch. Let cool completely.

6. Beat cream cheese with powdered sugar and vanilla extract until fluffy and smooth, then transfer to a piping bag.

7. In a bowl, mix brown sugar, cinnamon, all-purpose flour, and melted butter to make the crumble.

8. Bake the crumble separately on a tray at 350°F for 8–10 minutes. Let cool, then break into chunks.

9. Slice cooled donuts in half horizontally.

10. Pipe cheesecake filling onto the bottom half of each donut, add diced peaches on top, and replace the donut tops.

11. Sprinkle or gently press crumble topping over the donuts.

12. Chill for 30 minutes or serve immediately for a soft, gooey treat.