Line a standard muffin pan with paper baking cups.
For the cinnamon streusel: In a small bowl, mix together the brown sugar, granulated sugar, cinnamon and salt. Add the melted butter and mix to combine.
Using a fork, add the gluten-free flour and mix to form large crumbs. Do not mix with a spoon or overmix or the mixture will become pasty. Cover with plastic wrap.
For the muffins: In a medium bowl, whisk together the gluten-free flour, almond flour, baking powder, baking soda, salt, ginger and allspice.
In the bowl of a stand mixer, or using a hand mixer, beat together the eggs and brown sugar until light and fluffy, about 3 minutes.
With the mixer running on low, slowly drizzle in the oil. (Do this slowly so you keep the eggs and sugar fluffy.) Mix in the lemon juice and vanilla.
With the mixer running on low, add ⅓ of the dry ingredients followed by ½ of the yogurt. Mix until combined then add another ⅓ of the dry ingredients. Add the rest of the yogurt and mix until combined. Then add the rest of the dry ingredients and mix until combined. Scrape down the sides and bottom of the mixer and mix for another 15-20 seconds until the batter is very smooth.
Stir in the peaches with a rubber spatula. Using a kitchen scoop or large spoon, portion the batter evenly into the baking cups. Sprinkle the streusel topping evenly over the top of the muffins.
Refrigerate the muffins for 20 minutes before baking. Preheat the oven to 400°F.
Bake the muffins for 10 minutes at 400°F, then reduce the oven temperature to 350°F and continue to bake for 12-16 minutes, until the tops are lightly browned and a toothpick inserted into the center comes out clean.
Let the muffins cool in the pan for 5 minutes, then transfer to a wire rack to cool completely.
For the vanilla glaze: In a small bowl, whisk together the powdered sugar, milk and vanilla. Adjust the consistency with more milk or more powdered sugar as needed to make a very thick but pourable glaze. Drizzle over the cooled muffins. Let the glaze set for a few minutes before serving.