In a small bowl, warm the milk to about 110°F (43°C) and pour it into a mixing bowl. Sprinkle the active dry yeast and granulated sugar over the warm milk and stir gently. Allow the mixture to sit for 5 minutes until it becomes frothy.

In a large mixing bowl, combine the melted butter, salt, and eggs. Stir in the foamy yeast mixture, then gradually add the all-purpose flour until a soft dough forms. Knead the dough on a floured surface for about 5-7 minutes until it's smooth and elastic.

Place the kneaded dough into a lightly greased bowl, covering it with a clean kitchen towel. Let it rise in a warm area for about 1 hour or until it has doubled in size.

While the dough rises, prepare the filling by tossing fresh diced peaches in a bowl with brown sugar and ground cinnamon. Let the mixture sit for about 10 minutes.

Once the dough has risen, punch it down, and roll it out on a floured surface into a large rectangle. Spread a thin layer of melted butter over the dough, followed by the peach mixture evenly across. Roll the dough tightly from one long end to the other, then slice it into 12 equal pieces.

Arrange the sliced rolls in a greased 9x13-inch baking dish, leaving a bit of space between them. Cover the dish with a clean towel and let them rise for an additional 30 minutes.

Preheat your oven to 350°F (175°C). Once the rolls have risen, place the baking dish in the oven and bake for about 25 minutes or until they turn golden brown on top.

While the rolls are baking, prepare the glaze by beating together cream cheese, powdered sugar, and vanilla extract until the mixture is smooth and creamy.

Once the rolls are out of the oven and slightly cooled, generously spread the cream cheese glaze over the warm rolls.