In a large bowl, combine warm milk, instant dry yeast, and sugar. Allow the mixture to sit for about 5-10 minutes until it becomes frothy.

Mix in melted butter and large egg. Gradually add all-purpose flour, stirring until a soft dough forms.

Transfer the dough to a floured surface and knead gently for 5-7 minutes until smooth and elastic.

Place the kneaded dough into a greased bowl and cover. Set it in a warm area to rise for about 1 hour.

Prepare the filling by slicing up ripe peaches. Combine them with brown sugar and cinnamon in a mixing bowl.

Once the dough has risen, roll it out into a rectangle about 1/4 inch thick and spread the peach mixture over the dough.

Roll the dough tightly into a log shape and slice into 12 equal-sized pieces. Place in a greased baking dish.

Cover the baking dish and let the rolls rise for another 30 minutes while preheating your oven to 350°F (175°C).

Bake for approximately 25 minutes until golden brown.

Beat together softened cream cheese and powdered sugar until smooth for the frosting.

Drizzle the cream cheese frosting over warm rolls after baking.