Heat oven to 375°F. Cover a rimmed baking sheet with aluminium foil. Cut peaches in half and remove pit. Place peaches, cut side up on baking sheet and sprinkle evenly with 2 Tablespoons granulated sugar. Bake for 15 minutes. Flip peaches over and bake for 15 more minutes. Remove from oven and cool until you are able to handle them. Remove skin if desired. Cut into 1/4 to 1/2 inch slices.
Adjust oven temperature to 350°F and line a 9x13" baking pan with foil and grease with butter or oil. While peaches are roasting and cooling, begin making the batter for the crust and topping. In a medium bowl, whisk together 1 1/2 cups plus 2 Tablespoons granulated sugar, 1 cup whole wheat flour, 1 1/2 teaspoons baking powder, and 1 teaspoon salt. In the bowl of a stand mixer, cream together 1 cup unsalted butter and 1 1/2 cups granulated sugar until fluffy. Add in 3 large eggs, one at a time, then 1 teaspoon vanilla extract and 1/4 teaspoon almond extract. Turn mixer to low speed and add the flour mixture, a little bit at a time. Mix until well blended. Batter will be soft.
Pour about half of the batter into the prepared baking pan and spread with a spatula. Place sliced peaches in lines evenly over the batter. Top the sliced peaches with dollops of the remaining batter (it will spread as it bakes). Bake for 35-40 minutes, until golden brown on top. Cool bars to room temperature before glazing.
Glaze
Pour 3 Tablespoons milk or half and half, 1/2 teaspoon vanilla extract, and 1/8 teaspoon almond extract into a medium bowl. Gradually whisk in 1 cup powdered sugar until you reach desired consistency.