Preheat oven to 350 F and grease a 13 X 9 in. baking pan with nonstick spray. Set aside.
In a medium sized bowl, whisk together the flour, oats, baking powder, and salt.
In a mixer bowl fitted with the paddle attachment, mix the butter, brown sugar, peanut butter, and honey until fluffy and well combned. Add the eggs and vanilla extract and mix until combined.
Gradually add the dry ingredients into the wet, mixing until well blended and all ingredients are combined. Pour batter into prepared pan and spread evenly.
Bake for 20-25 minutes or until golden and a toothpick inserted into center comes out clean. Spread jam across surface of bars while still warm, making sure bars evenly covered. Sprinkle with peanuts. Allow to cool completely.
To make glaze: Whisk together powdered sugar, peanut butter, and milk until a fluid glaze forms. Drizzle the bars with icing.