01 - Combine warm milk, warm water, and sugar in a large bowl. Sprinkle yeast over the surface and let stand 5–10 minutes until foamy and activated.
02 - Whisk melted butter, eggs, and salt into yeast mixture. Gradually incorporate flour until a soft, tacky dough forms. Turn onto floured surface and knead 8–10 minutes until smooth and elastic.
03 - Place dough in a lightly greased bowl, turning to coat all surfaces. Cover with plastic wrap or damp towel and let rise in warm, draft-free area 1–1.5 hours until doubled in bulk.
04 - Melt butter in saucepan over medium heat. Add diced peaches, brown sugar, cornstarch, cinnamon, and nutmeg. Cook stirring constantly 5–7 minutes until peaches soften and mixture thickens to jam-like consistency. Transfer to bowl and cool completely.
05 - Combine brown sugar and cinnamon in small bowl, mixing until evenly blended.
06 - Punch down risen dough to release air. Roll on lightly floured surface to 16x12-inch rectangle. Spread softened butter evenly over surface. Sprinkle cinnamon sugar mixture, then distribute cooled peach filling in even layer.
07 - Starting from long edge, roll dough tightly into log. Pinch seam to seal. Using sharp knife or dental floss, slice log into 12 equal pieces. Arrange cut-side up in greased 9x13-inch baking dish, leaving space for expansion.
08 - Cover baking dish with towel and let rolls rise 30–45 minutes in warm place until puffy and nearly doubled in size.
09 - Bake at 350°F for 25–30 minutes until golden brown and centers are cooked through. Remove from oven and cool 10–15 minutes before glazing.
10 - Whisk powdered sugar, milk, vanilla extract, and salt in small bowl until smooth and thickened to drizzling consistency.
11 - Drizzle warm glaze generously over slightly cooled rolls. Serve warm or at room temperature.