Activate the yeast by combining it with warm milk and a pinch of sugar in a bowl. Let it sit for about five minutes until foamy.

Stir in the remaining sugar, melted butter, eggs, and vanilla until mixed into a smooth batter.

In a separate bowl, mix the all-purpose flour with salt. Gradually incorporate this mixture into the wet ingredients, stirring to combine.

Knead the dough by hand or on a floured surface for about 6-8 minutes until smooth and elastic.

Cover the bowl with a kitchen towel or plastic wrap and set it in a warm area to let it rise for approximately 1 hour until doubled in size.

Turn the dough out onto a floured surface and roll it into a 12x18-inch rectangle.

Spread softened butter evenly over the surface, then sprinkle brown sugar and cinnamon, and scatter diced peaches on top.

Roll the dough tightly from one end to the other and slice the log into 12 equal pieces.

Place the rolls in a greased 9x13-inch pan, cut side up. Cover with a towel and let rest for 30 minutes.

Preheat the oven to 375°F. Bake the rolls for 25-30 minutes until golden brown. Keep an eye on them to avoid over-baking.

Allow the rolls to cool in the pan for about 10 minutes. Prepare the glaze by beating together softened cream cheese, powdered sugar, heavy cream, and vanilla until smooth.

Drizzle the glaze generously over the warm rolls before serving.