Activate Yeast: In a bowl, dissolve the yeast in warm milk with a pinch of sugar. Let it sit for 5 minutes until it becomes frothy.

Make the Dough: In a large mixing bowl, combine the sugar, melted butter, salt, eggs, and flour. Pour in the yeast mixture and mix until the dough comes together. Knead the dough on a lightly floured surface until smooth and elastic. Let it rise in a warm place for about 1 hour, or until it doubles in size.

Prepare the Filling: In a small bowl, mix the diced peaches with the brown sugar and ground cinnamon until well coated.

Shape the Rolls: Roll out the risen dough into a large rectangle. Spread the peach filling evenly across the surface. Tightly roll the dough from one long side to the other, creating a log shape. Slice the log into 12 even pieces.

Second Rise: Arrange the rolls in a greased baking dish, leaving space between them. Let them rise for another 30 minutes until they puff up.

Bake the Rolls: Preheat your oven to 350°F (175°C). Bake the rolls for 20-25 minutes, or until they are golden brown and cooked through.

Make the Frosting: While the rolls are baking, beat together the softened cream cheese, butter, powdered sugar, and vanilla extract until smooth and creamy.

Frost the Rolls: Once the rolls are out of the oven, let them cool slightly before drizzling the cream cheese frosting generously over the top. Serve warm.