Lightly grease crock pot or spray with non-stick cooking spray. In a large mixing bowl, combine sugar and baking mix. Add eggs and vanilla extract. Stir. Pour in margarine and milk and stir. Mix in peaches and cinnamon, until well mixed.
Pour into crock pot. Cover and cook on low for six to eight hours or on high for 3 to 4 hours. Serve warm. Top with vanilla ice cream if desired.