In a large mixing bowl, combine warm milk with sugar and active dry yeast, letting it sit for 5–10 minutes until frothy and bubbly.

Once the yeast mixture is frothy, add all-purpose flour, salt, melted butter, and an egg to the bowl. Stir these ingredients together until a sticky dough forms.

Transfer the dough onto a floured surface and knead it for 6–8 minutes until smooth and elastic.

Place the kneaded dough in a lightly greased bowl, covering it with a kitchen towel. Allow it to rise for about 1 hour or until it has doubled in size.

Once risen, gently punch down the dough to release air, then roll it out into a large rectangle about ¼-inch thick.

Spread a generous layer of peach pie filling over the rolled-out dough, followed by a sprinkle of cinnamon-sugar mixture.

Carefully roll the dough tightly from one long end to the other, forming a log shape.

Using a sharp knife, slice the dough log into 12 even pieces and place these rolls in a greased baking dish.

Cover the baking dish with a kitchen towel and let the rolls rise again for about 30 minutes.

Preheat your oven to 375°F (190°C). Once ready, bake the rolls for 20–25 minutes until golden brown.

While the rolls are baking, mix cream cheese with powdered sugar until smooth.

Once the rolls are done baking and have cooled slightly, drizzle the creamy glaze generously over each roll.