In a small bowl, dissolve the active dry yeast in warm milk along with a pinch of sugar and let it sit for about 5 minutes until frothy.

In a large mixing bowl, combine granulated sugar, melted butter, salt, and eggs. Gradually mix in the yeast mixture, then add all-purpose flour until a soft dough forms.

Knead for about 5-7 minutes until smooth, then place it in a greased bowl, cover, and let rise in a warm place until it doubles in size, roughly 1 hour.

In a medium bowl, combine diced peaches, brown sugar, and ground cinnamon for the filling, then gently stir until well coated.

After the dough has risen, punch it down, roll it out into a rectangle about ¼ inch thick, even spread the peach filling on top.

Roll the dough into a tight log, slice into 12 pieces, and place them in a greased baking dish. Allow to rise for another 30 minutes.

Preheat your oven to 350°F (175°C), bake the rolls for approximately 25 minutes until golden brown.

While the rolls bake, prepare the frosting by beating softened cream cheese, butter, powdered sugar, and vanilla until smooth.

Once baked, cool the rolls for about 10 minutes, then drizzle with frosting while warm.