In a large mixing bowl, combine warm milk, sugar, and yeast. Let sit for 5–10 minutes until frothy.

Mix in melted butter and beaten egg, then gradually add flour, stirring until a dough forms.

Knead the dough on a floured surface for 5–7 minutes until smooth, then let it rise for about 1 hour.

Roll the dough into a large rectangle, approximately 12 x 18 inches and 1/4 inch thick.

Spread peach pie filling over the dough, sprinkle cinnamon and sugar mixture over the filling, then roll the dough tightly.

Cut the rolled dough into 12 equal pieces and place them in a greased baking dish.

Let the rolls rise for another 30–45 minutes in a warm area.

Preheat oven to 350°F (175°C) and bake for 25–30 minutes until golden brown.

Allow to cool for 10 minutes, then whisk together glaze ingredients and drizzle over warm rolls.