In a large mixing bowl, whisk together flour, sugar, yeast, and salt until well combined. Slowly add warm milk, melted butter, and an egg, mixing with a wooden spoon until a shaggy dough forms.

Lightly flour your work surface, then turn out the dough and knead for about 5-7 minutes until it is smooth and elastic.

Place the kneaded dough in a greased bowl, covering it with a damp cloth or plastic wrap. Set the bowl in a warm area to rise until the dough has doubled in size, about 1 hour.

Once risen, punch down the dough to release the air, then roll it out on a floured surface into a large rectangle about 1/4 inch thick.

Spread softened butter evenly over the surface, then sprinkle generously with a mixture of cinnamon and sugar, followed by dollops of peach filling.

Starting from one long side, tightly roll the dough into a log, making sure to keep it as even as possible.

Slice the log into equal-sized rolls, about 1 to 2 inches thick, and arrange them in a greased baking dish.

Cover the baking dish with a clean kitchen towel and let the rolls rise again in a warm spot until they become puffy, about 30 minutes.

Preheat your oven to 350°F (175°C) as they rise.

Carefully place the rolls in the preheated oven and bake for 20-25 minutes, or until golden brown.

While the rolls cool slightly, prepare the glaze by mixing cream cheese, powdered sugar, and a splash of milk until smooth.

Once the rolls have cooled for about 10 minutes, generously drizzle the cream cheese glaze over the tops.