1. In a large bowl, stir the warm milk, yeast, and a small pinch of the granulated sugar together, then let it sit until foamy.

2. Add the remaining granulated sugar, eggs, softened butter, and salt, then mix in the flour until a soft dough forms.

3. Knead the dough until smooth and elastic, then place it in a greased bowl, cover, and let it rise until doubled in size.

4. In a separate bowl, beat the cream cheese with the vanilla extract until smooth and creamy.

5. Mix the brown sugar and cinnamon together for the filling.

6. Roll the dough into a rectangle, spread with a thin layer of softened butter if desired, sprinkle over the cinnamon sugar mixture, then spread the cream cheese mixture across the top.

7. Scatter the diced peaches evenly over the filling.

8. Roll the dough up tightly from the long side, slice into rolls, and place them in a greased baking dish.

9. Cover and let the rolls rise again until puffy.

10. Bake until golden brown and cooked through.

11. Whisk the powdered sugar and heavy cream together into a glaze, then drizzle over the warm rolls before serving.