Prepare the Dough:
In a small bowl, dissolve the yeast in warm milk with a pinch of sugar. Let sit for about 5 minutes, or until frothy.
In a large bowl, combine the sugar, melted butter, salt, eggs, and flour. Add the yeast mixture and mix until a dough forms.
Knead the dough on a lightly floured surface until smooth and elastic, about 5-7 minutes. Place the dough in a lightly greased bowl, cover, and let it rise in a warm place until doubled in size, about 1 hour.
Make the Filling:
In a medium bowl, mix together the diced peaches, brown sugar, and ground cinnamon.
Assemble the Rolls:
Roll out the risen dough on a lightly floured surface into a large rectangle, approximately 16×12 inches.
Spread the peach filling evenly over the dough.
Roll the dough up tightly, starting from the long edge, and cut it into 12 equal slices.
Place the slices in a greased 9×13-inch baking dish. Cover and let rise for another 30 minutes.
Bake:
Preheat the oven to 350°F (175°C).
Bake the cinnamon rolls for 25 minutes, or until golden brown and cooked through.
Prepare the Frosting:
While the rolls are baking, beat the softened cream cheese and butter together in a medium bowl until smooth.
Add the powdered sugar and vanilla extract, and continue to beat until the frosting is creamy and smooth.
Finish:
Once the rolls are baked, remove them from the oven and allow them to cool slightly.
Drizzle the cream cheese frosting over the warm rolls before serving.