Prepare the Dough

1. Activate the Yeast: Start by warming the milk to about 110°F. It should feel warm but not hot to the touch. Combine the milk with the yeast and a pinch of sugar in a small bowl. Stir gently and let it sit for about 5 minutes until the mixture becomes frothy. This indicates that the yeast is activated and ready to work.
2. Mix the Dough Ingredients: In a large mixing bowl, combine the granulated sugar, melted butter, salt, eggs, and 2 cups of the flour. Add the yeast mixture and mix until combined. Gradually incorporate the remaining flour, 1/2 cup at a time, until the dough starts to pull away from the sides of the bowl.
3. Knead the Dough: Transfer the dough to a floured surface and knead for about 5–7 minutes until it becomes smooth and elastic. You can also use a stand mixer with a dough hook attachment for this step. The dough should be soft but not sticky.
4. Let the Dough Rise: Place the kneaded dough in a lightly greased bowl, cover it with a clean kitchen towel or plastic wrap, and let it rise in a warm, draft-free spot for about 1 hour or until it has doubled in size.

Make the Filling

1. Prepare the Peaches: If using fresh peaches, peel and dice them into small cubes. If using canned peaches, drain them thoroughly and pat them dry to prevent excess moisture in the filling.
2. Combine Ingredients: In a bowl, mix the diced peaches with brown sugar and ground cinnamon. Stir well to ensure the peaches are evenly coated.

Assemble the Rolls

1. Roll Out the Dough: Once the dough has risen, punch it down to release air bubbles. Transfer it to a lightly floured surface and roll it out into a large rectangle, approximately 12×18 inches in size.
2. Add the Filling: Spread the peach mixture evenly over the rolled-out dough, leaving a small border around the edges.
3. Roll and Slice: Starting from one of the long edges, tightly roll the dough into a log. Use a sharp knife or dental floss to cut the log into 12 equal slices.
4. Arrange in Pan: Place the slices cut-side up in a greased 9×13-inch baking dish, leaving a bit of space between each roll. Cover the pan with a towel and let the rolls rise for another 30 minutes.

Bake the Rolls

1. Preheat the Oven: While the rolls are rising, preheat your oven to 350°F (175°C).
2. Bake: Once the rolls have risen and are slightly puffy, bake them in the preheated oven for 25–30 minutes or until they are golden brown and the centers are cooked through.

Prepare the Frosting

1. Mix Ingredients: In a medium bowl, beat the softened cream cheese and butter together until smooth and creamy. Gradually add the powdered sugar, mixing well after each addition. Stir in the vanilla extract.
2. Adjust Consistency: If the frosting is too thick, add a splash of milk to thin it out to your desired consistency.

Finish the Rolls

1. Frost the Rolls: Once the rolls are baked, let them cool slightly for about 10 minutes. Spread the cream cheese frosting generously over the warm rolls.
2. Serve: Serve the rolls warm and enjoy the gooey, sweet, and spiced flavors.