01 -
Mix yeast in warm milk with pinch of sugar. Let stand 5 minutes until frothy.
02 -
Combine sugar, butter, salt, eggs, and flour in bowl. Add yeast mixture. Knead until smooth.
03 -
Let dough rise until doubled, about 1 hour.
04 -
Mix peaches with brown sugar and cinnamon.
05 -
Roll dough into rectangle. Spread filling, roll up, cut into 12 slices.
06 -
Place rolls in greased pan. Let rise 30 minutes.
07 -
Bake at 350°F for 25 minutes until golden.
08 -
Beat cream cheese, butter, powdered sugar, and vanilla until smooth. Spread on warm rolls.