Heat oven to 350 degrees F.
Prepare a 9x5 loaf pan with non-stick cooking spray or with parchment paper.
Separate biscuits from the can. Separate each biscuit into 2 or 3 layers.
In a small bowl mix together brown sugar and cinnamon.
Brush each biscuit layer with melted butter. Sprinkle with cinnamon sugar mixture.
Spoon 1/2 - 1 teaspoon diced peaches on to each biscuit layer. Stack biscuit layers on top of each other.
Place the stack in loaf pan so the ends touching the pan sides do not have peaches.
Cover pan with aluminum foil and back for 30 minutes.
Remove foil and bake another 10-15 minutes until top is golden brown.
Let cool for 5-10 minutes. In a small bowl stir together powdered sugar and milk.
Drizzle over bread.