Preheat oven to 400 degrees. Line a baking sheet with parchment paper.

Peel and slice the peaches; set aside.

In a small bowl, mix the white sugar and cinnamon.

Unfold the puff pastry onto the baking sheet; slightly roll to a 9×13 size. Lightly fold up the edges around the dough to make a tart, pinching together. Prick the pastry all over with a fork. Sprinkle with half of the cinnamon and sugar mixture.

Arrange the peach slices so they are slightly overlapping each other in three rows on top of the pastry dough.

Sprinkle the other half of the cinnamon and sugar mixture on top of the pastry dough.

Bake the tart for 20-25 minutes until it is golden and puffed. Remove the tart and let it cool slightly.

In a small bowl, add the confectioners’ sugar, milk, and vanilla; mix well. Drizzle on top of the warm peach tart; serve!