In a large mixing bowl, combine warm milk, sugar, and active dry yeast; let it rest for 5–10 minutes until bubbly.

Mix in melted butter, egg, and salt before gradually adding all-purpose flour, stirring until a soft dough forms.

Knead the dough on a floured surface for about 8–10 minutes until smooth and elastic, then place it in a greased bowl and cover.

Allow to rise in a warm place for 1–1.5 hours until doubled.

In a saucepan over medium heat, combine chopped fresh peaches, granulated sugar, ground cinnamon, and cornstarch. Cook for 5–7 minutes, stirring until the peaches soften and the mixture thickens.

Remove from heat and let it cool slightly.

Once the dough has risen, punch it down gently to release the air. On a lightly floured surface, roll the dough into a rectangle approximately 16x12 inches.

Spread the peach filling evenly over the rolled-out dough, leaving a 1-inch border on the edges.

In a small bowl, mix together brown sugar and ground cinnamon, then sprinkle this over the peach filling.

Starting from one long edge, carefully roll the dough tightly into a log. Slice the log into 12 equal pieces.

Place the sliced rolls in a greased baking dish, cover with a kitchen towel, and let them rise again for about 30–45 minutes until puffy.

Preheat your oven to 350°F (175°C) while the rolls are rising. Bake for 25–30 minutes or until golden brown on top.

While the rolls are baking, prepare the creamy glaze by whisking together powdered sugar, milk (or cream), and vanilla extract.

Allow the rolls to cool slightly, about 10 minutes, before drizzling the glaze generously over the warm rolls.