Activate Yeast: Warm your milk to 100–110°F. Stir in yeast and a pinch of sugar. Let sit for 5–10 minutes, until foamy.
Mix Dough: Add the melted butter, eggs, granulated sugar, and vanilla to the yeast mixture. Stir to combine.
Add Dry Ingredients: Add flour and salt. Mix until a shaggy dough forms.
Knead: Knead for 8–10 minutes by hand or with a dough hook until smooth and elastic.
First Rise: Transfer dough to a greased bowl, cover, and let rise 1 hour or until doubled.
Prepare Filling: Mix cinnamon and sugar. Set aside jam and softened butter.
Roll Out Dough: Punch down dough and roll into a 12×18 inch rectangle on a floured surface.
Add Filling: Spread softened butter, then jam. Sprinkle cinnamon sugar. Gently rub it in with your hands.
Slice & Roll: Cut into 12 strips. Roll each one into a swirl. Place in greased pan (add optional 2 tbsp brown sugar to pan bottom).
Second Rise: Cover and let rise for 30 minutes.
Make Crumble: Mix melted butter, flour, brown sugar, and cinnamon in a small bowl.
Optional Cream: Pour 1/4 cup heavy cream over rolls for extra gooeyness.
Top & Bake: Sprinkle on crumble. Bake at 350°F for 20–25 minutes until golden.
Make Frosting: Beat cream cheese and butter. Add peach jam and vanilla. Mix in powdered sugar until smooth.
Frost & Serve: Cool slightly before spreading on frosting. Enjoy warm!