• Start by warming milk until it’s just warm to the touch (around 110°F) – if it’s too hot, it’ll kill the yeast. Stir in about a tablespoon of your measured sugar and the yeast. Let it sit for about 5-10 minutes until it gets foamy and smells like bread. If it doesn’t foam up, your yeast might be dead and you’ll need to start over.
• While the yeast is doing its thing, whisk together the flour and salt in a large bowl. Make a well in the center – this makes it easier to incorporate the wet ingredients.
• Once the yeast mixture is foamy, add the melted butter (make sure it’s not hot) and eggs to it. Pour this wet mixture into your flour well and mix with a wooden spoon until it gets shaggy. Then get in there with your hands and knead until the dough comes together – about 8-10 minutes. You’ll know it’s ready when it feels smooth and bounces back when you poke it.
• Place the dough in a lightly oiled bowl, cover with a damp towel, and let it rise somewhere warm for about an hour or until doubled in size. I like to put it in my oven with just the light on – creates the perfect warm spot.

For the filling:

• While the dough rises, dice your peaches into small pieces (about 1/4 inch). You want them small enough to roll up easily but big enough to get juicy peach bits in every bite. Pat them dry with paper towels – this prevents your rolls from getting soggy.
• Mix softened butter with brown sugar, cinnamon, and nutmeg until it forms a spreadable paste.

Assembly:

• Once doubled, punch down your dough and roll it out on a floured surface into a rectangle about 18×24 inches. The dough should be about 1/4 inch thick – any thinner and it’ll tear when you roll it.
• Spread your cinnamon-butter mixture evenly across the dough, leaving about a 1/2 inch border on all sides. Sprinkle your diced peaches evenly over the butter mixture.
• Starting from the long edge closest to you, roll the dough up tightly – like rolling a sleeping bag. Keep it snug but don’t pull so hard that you tear the dough. Pinch the seam to seal it.
• Cut into 12 equal pieces using dental floss or a sharp knife (I prefer floss – slides right through without squishing). Place them in a greased 9×13 baking pan, leaving some space between each roll.
• Cover and let rise again for about 30-45 minutes. They should be puffy and touching each other. Meanwhile, preheat your oven to 350°F.
• Bake for 25-30 minutes, or until they’re golden brown on top and a thermometer inserted into the center roll reads 190°F. The filling should be bubbling at the edges.

For the glaze:

• While they’re still warm (but not hot), beat together cream cheese and butter until smooth. Add powdered sugar, vanilla, and enough milk to make it pourable but still thick – you want it to slowly drip off your spoon.
• Pour the glaze over your warm rolls, letting it seep into all the nooks and crannies. They’re best served warm when the peaches are still juicy and the glaze is gooey.