Prepare Dough: In a mixing bowl, combine the all-purpose flour, granulated sugar, active dry yeast, and a pinch of salt. Pour in warm milk and melted butter, then crack in the egg. Knead the mixture until it forms a smooth, elastic dough.

First Rise: Place the dough in a warm, draft-free location and cover it with a clean towel. Let it rise until doubled in size, which takes about 1 hour.

Prepare Filling: While the dough is rising, toss the diced peaches with a sprinkle of granulated sugar and cinnamon.

Roll Out Dough: Once the dough has risen, punch it down and roll it out into a large rectangle on a floured surface. Spread the peach filling evenly over the dough.

Form Rolls: Starting from one edge, roll the dough tightly into a log. Slice the log into equal sections.

Second Rise: Arrange the sliced rolls in a greased baking dish, cover, and let them rise for another 30 minutes.

Bake: Preheat your oven to 350°F (175°C). Bake for 25 minutes, or until golden brown.

Make Frosting: Beat together cream cheese and powdered sugar until smooth and creamy.

Serve: Drizzle the warm rolls with frosting and serve fresh from the oven.