Heat oven to 350°F. Spray 13x9-inch pan with cooking spray. In medium bowl, mix cracker crumbs, pecans, brown sugar and butter. Press evenly in bottom of pan.
Arrange peaches on crust. Sprinkle with cinnamon-sugar. In medium bowl, mix baking mix, granulated sugar and milk; pour over peaches.
Bake 45 to 50 minutes or until golden. Serve warm.