In a large mixing bowl, combine warm milk, yeast, and sugar. Allow it to sit for about 5 minutes until bubbly.

Add egg, softened butter, salt, and 2 cups of flour. Mix until smooth, then gradually add the remaining flour until a soft dough forms.

On a floured surface, knead the dough for about 5 minutes until it’s smooth and elastic.

Let it rise in a lightly greased bowl, covered with a kitchen towel, for 1 hour or until doubled in size.

In a medium bowl, gently toss the diced peaches with brown sugar, cinnamon, and cornstarch if using. Set aside for the flavors to blend.

Once the dough has risen, punch it down and turn it onto a floured surface. Roll it out into a large rectangle (about 12x18 inches).

Spread the peach filling evenly over the dough.

Starting from one long side, carefully roll the dough into a tight cylinder.

Slice the roll into 12 equal pieces and place them in a greased baking dish.

Cover the dish with a kitchen towel and let the rolls rise for another 30 minutes.

Preheat the oven to 350°F (175°C). Bake the rolls for 25-30 minutes until golden brown.

In a small bowl, mix the powdered sugar, milk, and vanilla extract until smooth. Drizzle over the warm rolls before serving.