In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, salt, and ground cinnamon. This dry base forms the structure of your fritters.

In another bowl, whisk together the milk, eggs, vanilla extract, and melted butter until smooth and well blended.

Pour the wet ingredients into the dry ingredients and stir until just combined. Be careful not to overmix—a few lumps are okay and ensure a tender fritter.

Gently fold the diced peaches into the batter. Ripe but firm peaches work best so they hold their shape during frying.

Pour about 2-3 inches of oil into a deep skillet or fryer and heat to 350°F (175°C). Use a thermometer to monitor the temperature for even cooking.

Using a spoon or small cookie scoop, drop dollops of batter (about 2 tablespoons each) into the hot oil. Fry a few at a time to avoid overcrowding, which can lower the oil temperature and lead to soggy fritters.

Fry for 2-3 minutes per side or until golden brown. Turn carefully using tongs or a slotted spoon.

Remove fritters from the oil and place on paper towels or a wire rack to drain excess oil. Let them cool slightly while you prepare the glaze.

In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency by adding more milk (for thinner glaze) or powdered sugar (for thicker glaze).

While the fritters are still slightly warm, drizzle them generously with the glaze or dip them directly into the bowl for full coverage. Let set for a few minutes before serving.