01 -
Mix warm milk and yeast in a large bowl. 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 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).
02 -
Combine peaches, brown sugar, cinnamon, lemon juice, vanilla, and cornstarch in a small saucepan over medium heat. Cook gently while stirring until thickened, about 5 minutes. Let cool completely.
03 -
Punch down the dough and roll it into a large rectangle (approximately 12x18 inches) on a floured surface.
04 -
Spread softened butter evenly over the dough. Mix brown sugar with cinnamon and sprinkle over the butter. Spoon the cooled peach filling evenly over the cinnamon sugar layer.
05 -
Starting from a long edge, tightly roll the dough into a log. Slice into 12 equal rolls and place them into a greased 9x13-inch baking dish. Cover and let rise for 30–45 minutes.
06 -
Preheat oven to 350°F (175°C). Bake the rolls for 25–30 minutes or until golden brown and cooked through.
07 -
While the rolls cool slightly, beat together cream cheese, powdered sugar, vanilla, and milk until smooth and pourable.
08 -
Drizzle the cream cheese glaze generously over warm peach pie cinnamon rolls. Serve immediately.