Prepare Dough: Warm milk to 110°F and sprinkle yeast over it. Let sit for 10 minutes. Combine flour, salt, and sugar in a bowl. Cut in butter, add yeast mixture and eggs, and mix to form dough.

First Rise: Knead dough on a floured surface for 5 minutes. Place in a greased bowl and let rise for 1 hour until doubled.

Make Peach Jam: Combine sliced peaches, sugar, and lemon juice in a saucepan. Cook over medium heat for 5-10 minutes until thickened. Let cool.

Prepare Crumb Topping: Mix together brown sugar, granulated sugar, cinnamon, and flour. Add melted butter and mix until crumbly. Bake at 350°F for 8 minutes and let cool.

Cinnamon Filling: Beat together softened butter, brown sugar, cinnamon, and salt. Roll out dough, spread filling, layer with peach jam, and sprinkle with crumb topping.

Shape Rolls: Roll dough into a log, cut into 12 pieces, and place in a greased baking pan. Cover to rise for 20 minutes.

Bake: Preheat oven to 375°F and bake rolls for 23-26 minutes until golden brown.

Prepare Icing: Beat cream cheese and butter until smooth. Gradually mix in powdered sugar and vanilla; adjust consistency with milk.

Finish Rolls: Spread icing over warm rolls and sprinkle with extra crumb topping if desired. Serve warm.