Prepare the Dough: In a small bowl, sprinkle 2 teaspoons of active dry yeast over 1 cup of warm milk. Add a pinch of sugar and let sit for about 5 minutes until frothy. In a large mixing bowl, combine 1/4 cup of granulated sugar, 1/4 cup of melted butter, 1 teaspoon of salt, 2 large eggs, and the yeast mixture. Gradually mix in 4 cups of all-purpose flour until a soft dough forms. Knead the dough on a floured surface until smooth, about 5-10 minutes. Transfer it to a greased bowl, cover with a clean towel, and let it rise in a warm place until doubled in size, about 1 hour.
Make the Filling: In a medium bowl, combine 2 cups of diced peaches, 1/2 cup of brown sugar, and 2 teaspoons of ground cinnamon. Mix to ensure the peaches are evenly coated.
Assemble Rolls: Preheat your oven to 350°F (175°C). Once the dough has risen, punch it down and roll it out on a lightly floured surface into a rectangle about 1/4 inch thick. Spread the peach filling evenly over the dough. Starting from one long side, tightly roll up the rectangle into a log. Cut the log into 12 evenly sized slices. Place the slices in a greased 9x13 inch baking dish, cut side up, and cover to let rise for another 30 minutes.
Bake: Bake the rolls in the preheated oven for 25 minutes, or until they are golden brown on top and cooked through. A toothpick inserted in the center should come out clean.
Prepare Frosting: While the rolls are baking, beat together 4 oz of softened cream cheese, 1/4 cup of softened butter, 1 cup of powdered sugar, and 1 teaspoon of vanilla extract in a medium bowl until smooth and creamy.
Finish: Once the rolls are baked, remove them from the oven and immediately drizzle the cream cheese frosting over the warm rolls. Serve and enjoy this delightful sweet treat!