Warm the milk to about 110°F (43°C).

Pour the milk into the bowl of a stand mixer and add 2 tablespoons of the sugar and the yeast. Stir briefly and let sit for 5 to 10 minutes until foamy.

Add the remaining sugar, softened butter, and eggs. Mix briefly.

Add 5 cups of flour and the salt. Mix until a shaggy dough forms.

Switch to the dough hook and knead for 8 to 10 minutes until smooth and elastic. Add the remaining flour only if needed.

The dough should be soft, smooth, and slightly tacky.

Place in a lightly greased bowl, cover, and let rise for about 2 hours, until doubled in size.

Alternatively, you can place the covered bowl in the fridge overnight. The next day, remove it from the fridge about ten minutes before assembling the rolls (steps below).

Combine the peaches, sugar, lemon juice, cinnamon, and nutmeg in a saucepan.

Cook over medium heat for about 8 to 10 minutes, stirring occasionally, until the peaches soften.

Mix the cornstarch and water together in a small bowl.

Add the slurry to the peaches and cook for another 1 to 2 minutes until thickened.

Transfer to a bowl and let cool completely before assembling the rolls.

Make the Cinnamon Sugar Layer

In a small bowl, combine the softened butter, brown sugar, cinnamon, and nutmeg until smooth and spreadable.

Grease either a 9x9-inch or 9x13-inch baking pan.

Turn the risen dough onto a lightly floured surface and roll it into a rectangle approximately 20x12 inches.

Spread the cinnamon sugar mixture evenly over the dough. Spoon the cooled peach filling over the surface and spread it into an even layer, leaving a 1-inch border along one long edge.

Starting with the long side, roll the dough tightly into a log. Trim the ends if desired.

To cut the rolls, slide a piece of unflavored dental floss under the log where you want to make a cut. Bring the ends of the floss up and cross them over the top of the dough, then pull in opposite directions. The floss will slice cleanly through the dough without squishing the rolls.

For a 9x9-inch pan, cut the log into 9 rolls, making each roll up to 2 inches thick. You will have a small amount of dough left over; place the extra piece on a parchment-lined baking sheet and bake it separately.

For a 9x13-inch pan, cut the log into 12 rolls and arrange them in the pan. The rolls will rise taller and fit more snugly together.

Arrange the rolls in the prepared pan, cover, and let rise for about 1 hour, or until puffy.

At this point, you can place the rolls in the fridge overnight. The peaches will release some juice, but once the rolls bake, they will be fine. I’ve tested it this way and worked wonderful. The next day, remove it from the fridge for about 60-90 minutes to let it come to room temperature and puff up before baking.

While the rolls are rising, preheat the oven to 350°F (175°C).

Bake for 25 to 30 minutes until lightly golden brown and baked through.

If the tops are browning too quickly, loosely tent with foil.

The center of the rolls should register approximately 190°F (88°C).

Let the rolls cool for about 20 minutes before frosting.

Preheat the oven to 350°F (175°C).

In a bowl, combine the flour, granulated sugar, brown sugar, cinnamon, and nutmeg.

Add the softened butter and mix with a fork or your fingertips until the mixture comes together and forms large crumbs.

Spread the mixture onto a parchment-lined baking sheet.

Bake for 12 to 15 minutes, stirring once or twice, until golden brown.

Break apart any large pieces while still warm and allow to cool completely.

Beat the cream cheese and butter together until smooth.

Add the powdered sugar and mix on low. Once incorporated, raise the speed to medium-high and beat for another minute. Add the vanilla and cinnamon. Beat until creamy and fluffy.

Spread the cinnamon cream cheese frosting over the warm rolls.

Sprinkle generously with the cooled streusel crumbs.

Serve warm.