In a medium bowl, combine 1 cup warm milk (about 110°F), 2 teaspoons instant dry yeast, and 2 tablespoons granulated sugar. Let sit for 5 minutes until frothy.

Stir in 2 tablespoons melted unsalted butter, 1 beaten egg, 1 teaspoon vanilla extract, and 3 cups all-purpose flour until a shaggy dough forms.

Turn the dough onto a floured surface and knead for 5 to 7 minutes until smooth and elastic, adding a little extra flour if too sticky. Shape into a ball.

Place the dough in a lightly greased bowl, cover, and let rise in a warm spot for about 1 hour until doubled in size.

While the dough rises, slice 2 cups peaches and toss with 1/3 cup packed brown sugar and 1 teaspoon ground cinnamon until evenly coated.

Punch down the risen dough and roll it out on a floured surface into a 16x12-inch rectangle.

Spread the peach mixture evenly over the dough, leaving a 1/2-inch border on one long edge.

Roll the dough tightly from the opposite long edge into a log, pinch the seam to seal, and cut into 12 equal rolls using a sharp knife or unflavored dental floss.

Grease a 9x13-inch baking dish, place the rolls cut-side up, cover with a clean kitchen towel, and let rise for 30 minutes while preheating the oven to 350°F (175°C).

Bake the rolls at 350°F (175°C) for about 25 minutes until golden brown and puffed.

In a small bowl, beat 4 ounces softened cream cheese with 1 cup powdered sugar until smooth and creamy.

Let the rolls cool for a few minutes, then drizzle the cream cheese frosting over the warm rolls.