In a large mixing bowl, combine warm milk with sugar and yeast. Let sit for 5-10 minutes until foamy.

Mix in eggs and melted butter, then gradually add flour and salt, kneading for 5-7 minutes until smooth.

Cover with a warm towel and let rise for approximately 1 hour, or until doubled in size.

Toss diced peaches with sugar and cinnamon in a bowl, adding flour if the peaches are juicy. Set aside.

Roll out the dough on a floured surface into a rectangle. Brush with melted butter and spread the peach mixture evenly.

Tightly roll the dough into a log and slice into 12 equal rounds. Place in a greased baking dish and let rise for 30 minutes.

Preheat the oven to 350°F. Bake rolls for about 25 minutes until golden brown. Cool slightly.

Beat together cream cheese, powdered sugar, and vanilla until smooth and creamy.

Drizzle the cream cheese glaze generously over warm rolls before serving.