01 - Combine warm milk, warm water, sugar, and yeast in a large bowl. Let stand 5–10 minutes until mixture becomes foamy and activated.
02 - Stir melted butter, eggs, and salt into yeast mixture. Gradually incorporate flour until soft dough forms. Turn onto floured surface and knead 8–10 minutes until smooth and elastic.
03 - Place dough in a greased bowl, turning to coat all sides. Cover with plastic wrap and let rise in warm, draft-free area for 1–1.5 hours until doubled in volume.
04 - Melt butter in saucepan over medium heat. Add peaches, brown sugar, cornstarch, cinnamon, and nutmeg. Cook stirring constantly 5–7 minutes until peaches soften and mixture thickens. Cool completely.
05 - Mix brown sugar and cinnamon in small bowl until thoroughly combined. Set aside.
06 - Punch down risen dough and roll into 16x12-inch rectangle on lightly floured surface. Spread softened butter evenly over dough. Sprinkle cinnamon sugar mixture, then distribute cooled peach filling across surface.
07 - Roll dough tightly from long edge. Cut into 12 equal pieces using sharp knife or dental floss. Place rolls cut-side up in greased 9x13-inch baking dish.
08 - Cover baking dish with clean towel. Let rise 30–45 minutes in warm place until rolls appear puffy and doubled in size.
09 - Preheat oven to 350°F. Bake rolls 25–30 minutes until golden brown and centers are fully cooked. Cool in pan 10–15 minutes.
10 - Whisk powdered sugar, milk, vanilla extract, and salt in small bowl until smooth and drizzling consistency forms.
11 - Drizzle vanilla glaze generously over warm rolls. Serve immediately while still warm.