Preheat the oven to 375 degrees.
Use ¼ cup of butter to grease a 9X13 inch baking dish, leaving the excess in the baking dish.
Whisk the granulated sugar, brown sugar, flour, cinnamon, and salt together in a large bowl. Stir in the lemon juice, orange zest, and almond/vanilla extract. Gently stir in the drained peaches. Pour this mixture into the prepared baking dish. Bake the peaches for 15 minutes
Plan to make the topping while the peaches are baking. The topping needs to be put on the peaches when they are hot.
Pour the remaining 1 tablespoon of lemon juice into the ½ cup of milk. Set this aside and allow this to sit for at least 5 minutes.
Place the flour, sugar, and baking powder into your food processor and pulse together. Then pulse in the cold butter until the mixture is crumbly. Do not over mix.
Next, whisk the vanilla into the milk mixture, which will have thickened slightly. Add this mixture into the food processor. Pulse just until the crumbs are just moistened.
Spoon or sprinkle the crumb topping onto the peaches as soon as they come out of the oven. If you allow the peaches to cool even a little bit, the topping will not bake properly. It is perfectly fine if the topping does not fully cover the peaches.
Bake for 40 minutes. If the top starts to darken too much, simply cover it with tin foil.