Warm 1 cup of milk to 110°F and sprinkle 2 teaspoons of active dry yeast on top. Let sit for about 10 minutes until frothy.

In a separate bowl, combine 4 cups of all-purpose flour, 1 teaspoon of salt, and 2 tablespoons of white granulated sugar. Cut in ½ cup of softened unsalted butter until resembling coarse crumbs.

Add the frothy milk and yeast mixture along with 2 room temperature eggs to the dry ingredients. Mix on low speed until moistened, then knead for about 5 minutes until the dough is smooth.

Transfer the dough to a greased bowl, cover with a kitchen towel, and let it rise in a warm spot for about 1 hour or until doubled in size.

Prepare the peach filling by simmering 2 cups of diced peaches, 2 tablespoons of lemon juice, and ¼ cup of sugar over medium heat for 5-10 minutes until thickened. Let it cool.

Combine ½ cup of flour, ½ cup of brown sugar, 2 teaspoons of cinnamon, and ¼ cup of melted butter in a bowl. Mix until crumbly. Bake at 350°F for 8 minutes.

In a mixing bowl, beat together ¼ cup of softened unsalted butter, ½ cup of brown sugar, 2 teaspoons of cinnamon, and a pinch of salt until smooth.

Roll out the risen dough into a rectangle, spread the filling and peach jam, sprinkle crumb topping, roll tightly, and slice into 12 pieces.

Arrange the sliced rolls in a greased baking dish, cover with a towel, and let rise for another 20 minutes while preheating oven to 375°F.

Bake the rolls for 23-26 minutes until golden brown and puffed.

Beat together 4 ounces of cream cheese and ¼ cup of softened butter, gradually add 2 cups of powdered sugar until smooth.

Drizzle the cream cheese icing over warm rolls and top with leftover crumb topping.