In a mixing bowl, combine warm milk and sugar, then sprinkle in instant yeast. Let it sit for about 5 minutes until foamy. Next, beat in eggs and melted butter, followed by salt. Gradually add flour, mixing until a soft dough forms. Knead the dough on a floured surface for about 5–7 minutes until smooth, then place in a greased bowl. Cover and let rise in a warm area for 1–1.5 hours or until doubled in size.

While the dough rises, prepare the peach filling. In a saucepan over medium heat, combine sliced peaches, brown sugar, cinnamon, nutmeg, lemon juice, vanilla extract, and cornstarch. Stir continuously for about 5–7 minutes until thickened. Remove from heat and let fill cool completely.

Once the dough has risen, punch it down and roll it out on a floured surface into a large rectangle (12x18 inches). Spread the cooled peach filling evenly across the dough, then tightly roll the dough into a log. Cut the rolled dough into 12 equal pieces and place in a greased baking pan.

Preheat your oven to 350°F (175°C). Let the rolls rest for 30 minutes to rise slightly again. If desired, pour cream over the rolls for extra moisture before baking. Bake for 25-30 minutes until golden brown.

While the rolls are baking, whip up a cream cheese icing by mixing softened cream cheese, powdered sugar, and milk until smooth. Once rolls are out of the oven, drizzle the icing on top and serve warm.