Preheat oven to 325°F. In a food processor, pulse together flour, butter, almonds, and sugar until crumbly. Spread mixture on a cookie sheet. Bake until golden brown, about 20 minutes. Cool on sheet, then crumble into small pieces. (Note: There will be streusel left over; it's delicious with ice cream.)

In a medium saucepan, combine peaches, honey, lemon juice, and sugar. Cook over medium heat, stirring, until peaches are tender and juices thicken slightly. Remove from heat and cool.

Spoon 1/3 cup peach mixture onto each of 6 serving plates. Sprinkle each serving with 2 tablespoons streusel. Serve with vanilla ice cream.