In a large mixing bowl, whisk together 4 cups of all-purpose flour, ½ cup granulated sugar, 2 teaspoons of yeast, and 1 teaspoon of salt.

Gradually mix in 1 cup of warm milk, ½ cup of melted unsalted butter, and 1 large egg. Stir until thoroughly combined, then knead the mixture on a floured surface for 8 to 10 minutes, until the dough is smooth and elastic.

Once the dough is kneaded, shape it into a ball and place it in a greased bowl. Cover it with a clean kitchen towel and let it rise in a warm, draft-free area for about 1 hour, or until it has doubled in size.

While the dough rises, prepare the filling by mixing ¼ cup granulated sugar, 1 tablespoon of ground cinnamon, and 2 cups of chopped peaches in a medium bowl.

Once the dough has risen, punch it down and roll it out on a floured surface into a large rectangle, approximately 1/4 inch thick. Spread ¼ cup of softened butter evenly over the dough, then sprinkle the peach filling mixture on top.

Starting from one long side, tightly roll the dough into a log and slice it into 1-inch pieces. Place the cinnamon rolls in a greased baking dish, leaving some space between them for expansion. Cover the dish with a towel and let the rolls rise for another 30 minutes.

Preheat your oven to 350°F (175°C). Once the rolls have completed their second rise, bake them in the preheated oven for 25 to 30 minutes, or until they turn golden brown.

For the crumb topping, combine 1 cup of quick oats with ¼ cup of melted butter in a small bowl. Stir until the mixture resembles coarse crumbs. Sprinkle this topping evenly over the rolls during the last 5 to 10 minutes of baking.

Once baked, remove the rolls from the oven and let them cool for about 10 minutes. Whisk together 4 ounces of cream cheese with 1 cup of powdered sugar and a splash of milk to create a smooth glaze. Drizzle this creamy glaze generously over the warm Peach Cobbler Cinnamon Rolls before serving.