Activate Yeast: In a medium bowl, combine ¼ cup of warmed milk, 1 teaspoon of sugar, and 2 teaspoons of active dried yeast. Stir gently, cover, and let sit for 5-10 minutes until frothy.

Prepare Dough: In a large mixing bowl, whisk together 2 eggs, 1/3 cup of sugar, and 2 teaspoons of vanilla extract. Add the activated yeast mixture and the remaining warmed milk. Gradually mix in 3 cups of flour and 4 tablespoons of butter. Knead for 5-7 minutes until smooth.

First Rise: Transfer the dough to a greased bowl, cover, and let rise in a warm spot for about 1 hour until doubled in size.

Prepare Filling: In a bowl, mix 2-3 cups of chopped peaches, 1 tablespoon of brown sugar, and 1 tablespoon of lemon juice. Stir and set aside.

Shape Fritters: Roll out dough to ½ inch thickness, cut circles, place peach filling in the center, and fold dough over sealing edges.

Fry Fritters: Heat oil to 350°F (175°C). Fry fritters in batches for 3-4 minutes per side until golden brown. Drain on paper towels.

Make Glaze: Whisk together 1 cup of powdered sugar, 2 tablespoons of milk, 1 tablespoon of maple syrup, and 1 teaspoon of vanilla bean paste. Adjust for desired consistency.

Serve: Drizzle glaze over warm fritters and enjoy immediately.