In a large mixing bowl, whisk together flour, sugar, salt, and yeast. Gradually add warm milk and mix until a cohesive dough forms. Incorporate melted butter and a beaten egg. Knead for about 5 minutes, then let it rise for about 1 hour in a greased bowl.

While the dough rises, chop peaches and mix them with sugar and cinnamon in a bowl until evenly coated.

On a floured surface, roll the dough into a large rectangle. Spread the peach filling evenly over the surface.

Carefully roll the dough into a tight log and slice into 12 equal rolls. Arrange in a greased baking dish for a second rise.

Cover the dish with a towel and let the rolls rise for about 30 minutes until puffed.

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

Let cool for 10 minutes, then drizzle with cream cheese frosting.