Preheat your oven to 350°F (175°C) and set a rack in the middle position. Lightly grease your 8x8-inch (20x20cm) baking dish with butter or cooking spray, covering the bottom and sides.
Rinse and pat the peaches dry, then cut them in half and remove the pits. Slice each half into pieces about 1/2 inch (1.25cm) thick, setting aside a small handful of the nicest slices for the top.
In a large mixing bowl, whisk together the rolled oats, baking powder, cinnamon, and salt until evenly distributed. If adding pecans, stir half of them in now and reserve the rest for the top.
In a second bowl, whisk the milk, maple syrup, egg, melted butter, and vanilla extract for about 20 seconds until the egg is fully broken up and the mixture looks uniform.
Pour the wet mixture into the bowl with the oats and stir gently with a spatula until every bit of oat is moistened, about 30 seconds. The mixture will look loose and soupy at this stage.
Add the sliced peaches to the bowl, holding back the slices you reserved for the top, and fold them in with a few gentle strokes so they distribute without breaking apart.
Pour the oat mixture into your prepared baking dish and spread it into an even layer. Arrange the reserved peach slices across the surface in a single layer and scatter the remaining pecans over the top if using.
Place the dish in the preheated oven and bake for 38 to 42 minutes, until the center is set and no longer jiggly and the edges are golden brown. Tent loosely with foil for the last 10 minutes if the top browns too quickly.
Remove the dish from the oven and let it rest for 10 minutes before cutting, which lets the base firm up so it slices cleanly. Serve warm, with a spoonful of Greek yogurt on top if you like.