Warm the whole milk to 110°F and mix it with 2 tablespoons of granulated sugar and the active dry yeast in a bowl. Let this mixture sit for about 5-10 minutes until it’s foamy.

In a large mixing bowl, combine the remaining sugar, unsalted butter, large eggs, all-purpose flour, and salt, then mix in the yeast mixture and knead until smooth and elastic, about 5-7 minutes.

Transfer the dough into a greased bowl and cover it with a clean kitchen towel or plastic wrap. Allow the dough to rise in a warm place for about 1 to 2 hours, or until it has doubled in size.

While the dough is rising, prepare the peach filling by sautéing the diced peaches in a medium saucepan over medium heat. Add in the brown sugar, lemon juice, cinnamon, and nutmeg, cooking until the peaches are soft, about 5-7 minutes.

Mix a slurry of cornstarch and water, stir it into the pan, and cook until thickened. Remove from heat and let the filling cool completely.

After the dough has risen, punch it down to release air, and roll it out on a lightly floured surface into a rectangle about 16x12 inches. Spread the cinnamon sugar mixture evenly over the dough, then layer on the cooled peach filling.

From the long side, tightly roll the dough into a log, sealing the edges, and cut it into 12 equal rolls using unflavored dental floss for clean edges.

Arrange the sliced rolls in a greased baking pan, making sure they are snug but not overcrowded. Cover with a towel and let them rise for an additional hour until puffy.

Preheat your oven to 350°F while the rolls are rising. Once the second rise is complete, bake the rolls for 25-30 minutes or until they are golden brown and cooked through.

Cool for about 20 minutes, then beat together the cinnamon cream cheese and softened butter until creamy and smooth.

Gradually blend in the powdered sugar and a pinch of cinnamon until the frosting is light and fluffy.

Once the rolls have cooled slightly, frost them generously with the cream cheese mixture and sprinkle the cooled streusel topping over the frosted rolls.