Combine Ingredients: In a large mixing bowl, whisk together the flour, instant yeast, granulated sugar, and salt until well combined.

Mix Wet and Dry: Pour the warm milk, melted butter, and lightly beaten eggs into the dry ingredients. Stir gently.

Knead the Dough: Turn the dough onto a floured surface and knead it for about 5–7 minutes.

First Rise: Place the kneaded dough in a greased bowl, cover with a clean cloth, and let it rise for about 1 hour.

Prepare Peach Filling: In a medium bowl, mix together the sliced peaches, brown sugar, cornstarch, cinnamon, vanilla extract, and lemon juice.

Roll Out Dough: Once your dough has risen, punch it down and roll it out on a floured surface into a rectangle.

Add Butter: Spread the softened butter evenly over the rolled-out dough.

Sprinkle Cinnamon Sugar: In a small bowl, combine granulated sugar with cinnamon and sprinkle over the buttered dough.

Add Peach Filling: Carefully distribute the peach filling evenly over the cinnamon sugar layer.

Roll and Seal: Starting from one long edge, roll the dough tightly into a log and pinch the seams.

Slice Rolls: Cut the log into 12 equal slices and arrange them in a greased 9x13 inch baking dish.

Second Rise: Cover the baking dish with a cloth and let the rolls rise for another 30 minutes.

Preheat Oven: Preheat your oven to 350°F (175°C) while you wait.

Bake Rolls: Place the rolls in the preheated oven and bake for 30–35 minutes.

Make the Glaze: In a small bowl, whisk together powdered sugar, milk, and vanilla extract until smooth.

Drizzle Glaze: Once your rolls are out of the oven and slightly cooled, drizzle the glaze over the warm rolls.

Serve and Enjoy: Serve your Peach Pie Cinnamon Rolls warm.