In a large mixing bowl, combine warm milk and active dry yeast, let sit until frothy.

Add flour, sugar, butter, eggs, and salt to the yeast mixture. Mix until a soft dough forms and knead for 5-7 minutes.

Shape the dough into a ball, place in a greased bowl, cover, and let rise for 1 hour until doubled in size.

Roll out the dough into a rectangle, spread softened butter, and sprinkle with sugar and cinnamon. Top with sliced peaches.

Roll the dough tightly into a log and slice into 12 rolls, placing them in a greased baking dish.

Cover the baking dish and let rolls rise for 30 minutes. Preheat oven to 350°F (175°C).

Bake the rolls for 25-30 minutes until golden brown and bubbly.

Mix together cream cheese, powdered sugar, and vanilla extract for frosting. Drizzle over warm rolls before serving.