Dissolve the active dry yeast in the warmed milk with a pinch of the sugar. Let the mixture sit until it becomes frothy and bubbly, about 5 minutes. In a large bowl, combine the remaining sugar, melted butter, salt, eggs, and flour. Pour in the frothy yeast mixture and mix until a dough forms. Knead the dough on a lightly floured surface for about 8-10 minutes until it is smooth and elastic. Place the dough in a lightly greased bowl, cover, and let it rise in a warm place until doubled in size, about 1 hour.

In a medium bowl, combine the diced peaches with the packed brown sugar and ground cinnamon. Stir until the peaches are evenly coated. Set aside so the flavors can meld while the dough finishes rising. I sometimes use fresh peaches for a brighter flavor, but canned work great too!

Once the dough has doubled in size (from Step 1), punch it down and turn it out onto a floured surface. Roll it into a large rectangle, about 1/4-inch thick. Evenly spread the peach filling (from Step 2) over the dough. Carefully roll the dough up tightly from the longer side to form a log. Cut the log into 12 equal slices and arrange them in a greased baking dish. Cover and let the rolls rise for another 30 minutes until puffy.

Preheat your oven to 350°F (175°C). Once the rolls have finished their second rise, bake them in the preheated oven for about 25 minutes, or until golden brown and cooked through. Let them cool for a few minutes before frosting.

While the rolls are cooling, beat the softened cream cheese and room temperature butter together until smooth and creamy. Add powdered sugar and vanilla extract, and continue beating until the frosting is fluffy and spreadable. For even more flavor, I sometimes add a tiny pinch of salt to balance the sweetness.

Drizzle or spread the cream cheese frosting (from Step 5) over the warm rolls as soon as they come out of the oven for a melty finish, or wait until they're slightly cooled for a thicker layer. Serve the rolls warm and enjoy.