Activate Yeast: In a large mixing bowl (or the bowl of a stand mixer), combine the warm milk and a pinch of the granulated sugar. Sprinkle the active dry yeast over the milk. Let it sit for about 5 minutes, or until the yeast is foamy. This step “proofs” the yeast, ensuring it’s alive and active.

Combine Wet Ingredients: Add the remaining granulated sugar, melted (and slightly cooled) butter, salt, and room-temperature eggs to the yeast mixture. Whisk until well combined.

Add Flour: Gradually add the all-purpose flour to the wet ingredients, mixing with a wooden spoon or spatula (or with the dough hook attachment of a stand mixer on low speed) until a shaggy dough forms.

Knead Dough:

• By Hand: Turn the dough out onto a lightly floured surface and knead for 8-10 minutes, or until the dough is smooth and elastic.
• Stand Mixer: Knead with the dough hook on low speed for 6-8 minutes, or until the dough is smooth and elastic and pulls away from the sides of the bowl.  
   

First Rise: Lightly grease a large bowl. Place the kneaded dough in the greased bowl, turning it to coat all sides. Cover the bowl tightly with plastic wrap or a clean kitchen towel. Let the dough rise in a warm place, free from drafts, until doubled in size, about 1 hour.

Prepare Peach Filling: While the dough is rising, prepare the peach filling. In a medium bowl, combine the diced peaches, brown sugar, and cinnamon. Toss gently to combine.

Roll Out Dough: After the first rise, punch down the dough to release the air. Turn it out onto a lightly floured surface. Roll the dough out into a large rectangle, approximately 12×18 inches.

Spread Filling: Spread the peach filling evenly over the rolled-out dough, leaving a small border along the edges.

Roll Up Dough: Starting from one of the long edges, tightly roll the dough up into a log, jelly-roll fashion. Pinch the seam to seal.

Cut Rolls: Using a sharp knife, serrated knife, or unflavored dental floss, cut the log into 12 equal slices.

Second Rise: Grease a 9×13-inch baking dish. Arrange the sliced cinnamon rolls, cut-side up, in the prepared baking dish. Cover the dish loosely with plastic wrap or a clean kitchen towel. Let the rolls rise in a warm place for 30 minutes, or until puffy.

Preheat Oven: While the rolls are rising for the second time, preheat your oven to 350°F (175°C).

Bake: Bake the rolls for 25 minutes, or until they are golden brown and cooked through.

Make Frosting: While the rolls are baking, prepare the frosting. In a medium bowl, using an electric mixer (hand mixer or stand mixer), beat together the softened cream cheese and softened butter until smooth and creamy. Gradually add the powdered sugar, beating until combined. Stir in the vanilla extract.

Cool and Frost: Remove the baked rolls from the oven. Let them cool in the pan for about 10 minutes before spreading the frosting evenly over the top.

Serve warm.