1. Prepare the Dough: In a small bowl, mix the yeast with warm milk and a pinch of sugar. Let it sit for about 5 minutes until it gets foamy. In a large mixing bowl, combine flour, sugar, and salt. Add melted butter, eggs, and the yeast mixture. Mix until it forms a dough, then knead for 8-10 minutes until it becomes smooth and stretchy. Cover it with a damp cloth and let it rise for 1 hour or until it doubles in size.
2. Make the Filling: Melt butter in a small saucepan over medium heat. Stir in chopped peaches, brown sugar, cinnamon, and nutmeg. Cook for 5-7 minutes until the peaches are soft and the mixture thickens.
3. Shape the Rolls: On a floured surface, roll the dough into a large rectangle. Spread the peach mixture evenly over the dough. Roll the dough tightly into a log and cut it into 12 equal pieces. Place the rolls in a greased baking pan, cover, and let them rise for 30 minutes.
4. Bake and Glaze: Preheat the oven to 350°F (175°C). Bake the rolls for 20-25 minutes, or until they turn golden. In a bowl, whisk together powdered sugar, milk, and vanilla extract for the glaze. Drizzle the glaze over the warm rolls before serving.
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