In a large mixing bowl, combine 4 cups of all-purpose flour, 2¼ teaspoons of instant yeast, 1 cup of warm milk, ½ cup of melted unsalted butter, and a pinch of salt. Stir until a dough forms, and then knead it on a floured surface for about 5 minutes until smooth. Place the dough in a greased bowl, cover it with a kitchen towel, and let it rise in a warm spot for about 1 hour, or until it doubles in size.

Once the dough has risen, punch it down gently to remove air. On a floured surface, roll it out into a 16x12-inch rectangle. Spread ½ cup of softened butter evenly across the dough, followed by a mixture of ½ cup of brown sugar, 2 tablespoons of cinnamon, and 3 cups of sliced fresh peaches. Make sure to distribute these fillings evenly.

Starting from one long edge of the dough, carefully roll it up tightly into a log shape. Slice the log into 12 equal pieces using a sharp knife or a string. Place the slices upright in a greased 9x13 inch baking dish, ensuring some space between them for rising.

Cover the sliced rolls with a clean kitchen towel and let them rise for about 30 minutes in a warm area until they puff up.

Preheat your oven to 350°F (175°C). After the second rise, transfer the baking dish to the preheated oven and bake for about 25 minutes, or until the tops of the rolls are golden brown.

While the rolls are baking, prepare the cream cheese frosting. Beat together 8 ounces of softened cream cheese and 2 cups of powdered sugar until smooth. Optionally, add a splash of vanilla extract.

Once the rolls are baked and cooled slightly, drizzle the cream cheese frosting over the warm rolls to create a delicious glaze.