01 -
Dissolve yeast in warm milk with a pinch of sugar. Let sit until frothy, about 5 minutes. Add sugar, butter, salt, eggs, and flour to a large bowl. Mix in the yeast mixture. Knead until smooth. Let rise until doubled, about 1 hour.
02 -
Mix diced peaches with brown sugar and cinnamon.
03 -
Roll out the dough into a rectangle. Spread the peach filling evenly. Roll up tightly and cut into 12 slices. Place in a greased baking dish. Let rise for 30 minutes.
04 -
Preheat the oven to 350°F. Bake the rolls for 25 minutes or until golden.
05 -
Beat cream cheese, butter, powdered sugar, and vanilla until smooth.
06 -
Drizzle frosting over warm rolls before serving.