01 - Combine warm milk, warm water, and granulated sugar in a large bowl. Sprinkle yeast over the surface and let stand for 5-10 minutes until foamy and activated.
02 - Whisk melted butter, eggs, and salt into the yeast mixture. Gradually incorporate flour, mixing until a soft, tacky dough forms that pulls away from the bowl sides.
03 - Turn dough onto a lightly floured surface and knead for 8-10 minutes until smooth and elastic. Place in a greased bowl, cover with plastic wrap, and let rise in a warm, draft-free area for 1 to 1.5 hours until doubled in volume.
04 - Melt butter in a saucepan over medium heat. Add diced peaches, brown sugar, cornstarch, cinnamon, and nutmeg. Cook stirring constantly for 5-7 minutes until peaches soften and mixture thickens. Transfer to a bowl and cool completely.
05 - Combine brown sugar and cinnamon in a small bowl, mixing until thoroughly incorporated.
06 - Punch down risen dough and roll out on a floured surface into a 16x12-inch rectangle. Spread softened butter evenly across the surface, leaving a 1-inch border. Sprinkle cinnamon sugar mixture over butter, then distribute cooled peach filling.
07 - Starting from a long edge, roll dough tightly into a log. Using serrated knife or dental floss, slice into 12 equal portions. Place rolls cut-side up in a greased 9x13-inch baking dish, leaving space between each.
08 - Cover dish loosely with towel and let rolls rise for 30-45 minutes in a warm place until puffy and nearly doubled.
09 - Bake at 350°F for 25-30 minutes until golden brown on top and cooked through in the center. Rotate pan halfway through baking for even browning.
10 - Whisk powdered sugar, milk, vanilla extract, and salt until smooth and drizzling consistency. Adjust with additional milk if too thick.
11 - Drizzle warm glaze over rolls while still slightly warm. Serve immediately for optimal texture.