Preheat oven to 350°F (175°C).
Cut the peaches in the canned pie filling into smaller pieces and set aside.
In a large bowl, cream butter, sugar, and salt until light and fluffy.
Add eggs one at a time, beating well after each addition. Mix in vanilla extract.
Gradually add flour, one cup at a time, mixing until fully combined.
Spread about 3 cups of the dough into a greased 15x10x1-inch baking pan.
Evenly spread the peach pie filling over the dough.
Drop the remaining dough by teaspoonfuls over the peach layer.
Bake for 30–35 minutes or until golden brown.
Cool completely in the pan on a wire rack.
In a small bowl, whisk together powdered sugar, vanilla extract, almond extract (if using), and milk until smooth.
Drizzle the glaze over the cooled bars before serving.