In a large mixing bowl, combine the warm milk, sugar, and yeast. Let this sit for about 5 minutes until it’s frothy.

Next, add in the melted butter, egg, and salt. Gradually incorporate the flour, mixing until a soft dough forms.

Transfer the dough to a lightly floured surface. Knead it for about 5–7 minutes until it’s smooth and elastic. Place it in a greased bowl, cover it with a cloth, and allow it to rise in a warm spot for about 30 minutes, or until doubled in size.

While the dough is rising, mix the softened cream cheese with diced peaches and a pinch of cinnamon. Set aside.

Once the dough has risen, punch it down and roll it out into a rectangle about 1/4-inch thick on a floured surface.

Evenly spread the peach and cream cheese mixture over the dough, leaving a small border along the edges.

Starting from one side, carefully roll the dough into a log. Slice it into approximately 12 even rolls and place them in a greased baking dish.

Cover the rolls with a cloth and let them rise again for another 20–30 minutes.

Preheat your oven to 350°F (175°C) and bake the rolls for 25–30 minutes until golden brown.

While the rolls are baking, mix powdered sugar with a tiny splash of milk until a smooth icing forms. Once the rolls are out of the oven, let them cool for a few minutes before drizzling the icing over the top.

Enjoy!