Activate your yeast by combining warm water and yeast in a bowl until frothy (5–10 minutes)

In a large mixing bowl, mix flour, sugar, and salt. Add the yeast mixture and melted butter; stir into a sticky dough.

Knead dough on a floured surface for about 8 minutes until smooth and elastic.

Place in an oiled bowl, cover, and let rise in a warm area until doubled (about 1 hour).

Prepare peach filling by tossing sliced peaches with cinnamon and sugar.

Roll out the dough into a rectangle (¼ inch thick), spread peach filling evenly, then roll tightly and slice into sections.

Arrange in a greased baking dish, cover again while preheating oven to 350°F. Bake for 25–30 minutes until golden brown.

Drizzle warm rolls with icing made from whisking icing sugar with milk.