Warm the milk to 110°F in a small saucepan or microwave. Sprinkle the yeast over the warm milk and let it sit for 10 minutes until bubbly.

Mix the flour, sugar, and salt in a large bowl. Cut in the softened butter until the mixture resembles coarse crumbs.

Combine the wet and dry ingredients, kneading until the dough is smooth—about 5 minutes with a stand mixer.

Place the kneaded dough into a greased bowl, cover it with a towel, and let it rise in a warm spot for about 1 hour.

In a saucepan over medium heat, combine the sliced peaches, sugar, and lemon juice. Cook for 5 to 10 minutes until it thickens into a jam-like consistency.

Remove from heat and let it cool.

In a small bowl, mix together brown sugar, ground cinnamon, and softened butter until crumbly.

Preheat your oven to 350°F, spread the crumb mixture on a baking sheet, and bake for 8 minutes.

After the dough has risen, punch it down gently and roll it out on a floured surface into a large rectangle.

Spread the cinnamon filling, then the cooled peach jam, and sprinkle with the cooled crumb topping. Roll the dough into a log shape and cut into 12 pieces.

Preheat your oven to 375°F. Once the rolls have risen, bake for 23 to 26 minutes until puffed and golden brown.

Whisk together softened cream cheese and melted butter; gradually mix in powdered sugar and vanilla extract, adding milk to reach desired consistency.

Spread the cream cheese icing over the warm rolls. Sprinkle with additional crumb topping before serving.