Directions:

Make the Dough:
In a large bowl, mix warm milk and yeast. Let sit for 5–10 minutes until foamy. Add sugar, melted butter, eggs, and salt. Stir to combine. Gradually add flour until a soft dough forms. Knead for about 5–7 minutes, then place in a greased bowl, cover, and let rise in a warm place until doubled in size (about 1–1.5 hours).
Prepare the Peach Filling:
In a small saucepan over medium heat, combine peaches, brown sugar, cinnamon, lemon juice, vanilla, and cornstarch. Cook, stirring gently, until thickened (about 5 minutes). Let cool completely.
Roll Out the Dough:
Punch down the dough and roll it into a large rectangle (about 12×18 inches) on a floured surface.
Add Fillings:
Spread the softened butter evenly over the dough. Mix the brown sugar and cinnamon and sprinkle over the butter. Spoon the cooled peach filling evenly over the cinnamon sugar layer.
Shape the Rolls:
Starting from the long edge, tightly roll the dough into a log. Slice into 12 equal rolls and place them into a greased 9×13-inch baking dish. Cover and let rise for another 30–45 minutes.
Bake:
Preheat oven to 350°F (175°C). Bake the rolls for 25–30 minutes, or until golden brown and cooked through.
Make the Glaze:
While the rolls cool slightly, beat together the cream cheese, powdered sugar, vanilla, and milk until smooth and pourable.
Glaze and Serve:
Drizzle the cream cheese glaze generously over warm peach pie cinnamon rolls. Serve immediately and enjoy their soft, gooey, fruity goodness!
Nutritional Information:
Prep Time: 30 minutes | Rise Time: 2 hours | Bake Time: 30 minutes | Total Time: ~3 hours
Kcal: ~410 kcal per roll | Servings: 12 rolls