01 -
Combine warm milk and active dry yeast in a large bowl. Let stand for 5 to 10 minutes until frothy.
02 -
Whisk in granulated sugar, melted butter, eggs, and salt. Gradually incorporate all-purpose flour until a soft dough forms.
03 -
Transfer dough to a floured surface and knead for 5 to 8 minutes until smooth and elastic.
04 -
Place dough in a greased bowl, cover securely, and allow to rise for 1 hour or until doubled in volume.
05 -
In a medium saucepan over medium heat, combine diced peaches, brown sugar, ground cinnamon, cornstarch, lemon juice, and vanilla extract. Simmer until thickened, then set aside to cool.
06 -
Once risen, roll dough into a large rectangle approximately 16 by 12 inches.
07 -
Spread softened butter evenly over the surface of the dough. Mix brown sugar with ground cinnamon and sprinkle over the buttered dough.
08 -
Distribute cooled peach mixture over the cinnamon-sugar layer.
09 -
Roll the dough tightly into a log from the long edge. Slice into 12 even pieces.
10 -
Arrange slices in a greased 9 by 13 inch baking pan. Cover and let rise 30 to 45 minutes until puffy.
11 -
Preheat oven to 350°F. Bake rolls for 25 to 30 minutes until golden brown.
12 -
Beat cream cheese, powdered sugar, vanilla extract, and milk in a bowl until smooth and creamy.
13 -
Spread or drizzle glaze over warm rolls before serving.