Heat the milk until warm (about 110°F) and combine it with the yeast and granulated sugar in a large mixing bowl. Stir and let it sit for 5-10 minutes until frothy.

Add the melted butter, salt, and eggs to the yeast mixture, and whisk until well blended.

Gradually add flour to the mixture, starting with half, mixing until a soft dough forms. You may not need all the flour.

Knead the dough on a floured surface for 5-7 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, cover it with a towel, and let it rise in a warm place for 1-2 hours until doubled in size.

Once risen, punch the dough down and roll it out into a rectangle, about ½ inch thick.

Mix the diced peaches, brown sugar, and ground cinnamon in a bowl. Spread this mixture over the rolled dough.

Roll the dough tightly into a log shape, pinching the seams to seal.

Cut the roll into 12 equal pieces and arrange them in a greased baking dish.

Cover and let the rolls rise for another 30-45 minutes until puffy.

Preheat the oven and bake the rolls until golden brown.

While baking, prepare the icing by beating softened cream cheese and butter, then add powdered sugar and vanilla.

Once baked, cool slightly and drizzle the icing over the warm rolls.