In a large bowl, mix 4 cups of all-purpose flour, 2 teaspoons of yeast, 1/4 cup of sugar, and 1 teaspoon of salt. In a separate saucepan, gently warm 1 cup of milk and 1/2 cup of butter until the butter melts. Combine both mixtures and knead for about 8 minutes until the dough is smooth and elastic.

Transfer the kneaded dough into a greased bowl, covering it with a clean kitchen towel. Place it in a warm, drafts-free area for approximately 1 hour.

While the dough is rising, prepare the filling by slicing 2 cups of peaches and blending them in a bowl with 1/2 cup of sugar and 1 tablespoon of cinnamon.

Once the dough has risen, lightly flour a clean surface and roll the dough into a large rectangle measuring about 16x12 inches.

Spread the peach mixture evenly over the rolled-out dough, leaving a small border around the edges.

Starting from the long edge, tightly roll the dough into a log shape and slice the log into 12 equal sections.

Cover the rolls with a towel and let them rise for an additional 30 minutes.

Preheat your oven to 350°F (175°C) and bake for 25 minutes or until the tops are golden brown.

Allow the rolls to cool for about 10 minutes, then mix the glaze ingredients and drizzle over the warm rolls.