Step 1

Warm the milk in the microwave until 110°F. Sprinkle the yeast on top and let sit for 10 minutes.

Step 2

In a large bowl, mix the flour, salt, and sugar. Add the cubed butter. Use a pastry cutter, a fork, or your fingers to cut the butter into the flour. It should be the size of a pea.

Step 3

Add the milk/yeast mixture and the lightly beaten eggs. Use a stand mixer with a dough hook and mix on low until a dough starts to form. Turn to medium speed and knead for 5 minutes. * making by hand instructions in the recipe notes.

Step 4

Preheat the oven to 200°F. Spray a large bowl with nonstick spray and place the dough in the bowl and cover with a kitchen towel. Place the bowl in the oven, turn off the oven, and crack open the door. Let it rise for 1 hour until doubled in size. You can also store it in any warm place.

Step 5

In a medium saucepan over medium heat, mix the peaches, sugar, and lemon juice together. Heat for 5-10 minutes. The peaches will begin to release their juices and it will become a jam. Let it thicken. It will equal to 1 1/4 cup of jam when it is done cooking. Let it cool completely.

Step 6

Preheat oven to 350°F. Spray a cookie sheet with non-stick spray. Combine brown sugar, sugar, cinnamon, salt, flour, and melted butter. Mix with a fork. Mix until combined and there are large chunks.

Step 7

Spread on the cookie sheet and bake for 8 minutes. It will harden as it cools. Let cool completely. Then, break the large chunks.

Step 8

Using a mixer, beat the butter, brown sugar, cinnamon, and salt together until smooth like a paste.

Step 9

Roll the dough out on a lightly floured surface using a rolling pin. Roll until 1/4 inch thickness into a large rectangle.

Step 10

Spread the cinnamon filling over all of the dough using an offset spatula.

Step 11

Spread the 1 cup of the cooled jam on top of the filling. Leave a border around the edges. Sprinkle 1/2 of the cinnamon crumb topping on top.

Step 12

Roll the dough into a log starting on the short side. Use a serrated knife to cut off the uneven ends. Use a measuring tape to get an even 12 rolls. Use the serrated knife to create light sawing movements.

Step 13

Spray a 9X13-inch pan with baking nonstick spray. Place the rolls evenly into the pan. Cover with a kitchen towel and let rise for for 20 minutes.

Step 14

Preheat the oven to 375°F. Bake the rolls for 23-26 minutes until the tops are lightly golden.

Step 15

Start the icing while the rolls are baking.

Step 16

Using a hand mixer, beat the butter and cream cheese on high speed for 1 minute. Add in the powdered sugar and vanilla and mix on low until combined. Switch to high and beat until smooth.

Step 17

Add the milk and mix until creamy. You can more or less milk depending on how thick you want your glaze. Mix in the peach jam.

Step 18

Spread the icing immediately on the hot rolls by using a spoon. When they are hot, the icing will melt into the cracks. Sprinkle extra cinnamon crumb topping on top. Serve warm.