In a large mixing bowl, combine the all-purpose flour, active dry yeast, granulated sugar, and salt. Warm the milk and melted butter to about 110°F, then add to the dry ingredients along with the egg. Mix until a smooth dough forms, then knead on a floured surface for about 5–7 minutes, until soft and elastic. Place in a greased bowl, cover with a cloth, and let rise in a warm, draft-free spot for about 1 hour, or until doubled in size.

While the dough is rising, prepare the peach pie filling. Peel and chop fresh peaches into small pieces, or use canned peaches if preferred. In a medium bowl, mix the chopped peaches with brown sugar, cinnamon, and a bit of melted butter until well combined. Set aside to allow the flavors to meld together while the dough continues to rise.

Once the dough has risen, punch it down to release any air. On a floured surface, roll it out into a large rectangle, approximately 16x12 inches, and about 1/4 inch thick.

Evenly spread the peach filling over the rolled-out dough, leaving about a 1-inch border around the edges. Sprinkle a mixture of cinnamon and brown sugar over the peach layer for added sweetness and spice. Carefully roll the dough tightly from one long side to the other, forming a log. Pinch the seams to seal.

Preheat the oven to 350°F while you slice the rolled dough into 12 equal pieces. Place the rolls spiral-side up in a greased baking dish. Cover and let them rise for another 30 minutes, or until puffy. Bake in the preheated oven for 25–30 minutes, or until golden brown.

As the rolls bake, whisk together the cream cheese, powdered sugar, and milk in a medium bowl until smooth and creamy. Adjust the consistency with more milk if needed.

Once the rolls are baked and slightly cooled, drizzle the cream cheese glaze generously over the top using a fork or piping bag. Allow the glaze to set for a minute, then serve warm.