These Peach Cinnamon Rolls take everything you already love about a classic cinnamon roll and swirl in fresh, juicy peaches for a summery twist. The dough is soft and buttery, the filling is warm with cinnamon and brown sugar, and every bite has little pockets of sweet peach hiding inside. Once these come out of the oven and get a drizzle of cream cheese glaze, your kitchen is going to smell like a bakery.
Activate yeast: Warm milk to 110°F. In stand mixer bowl, combine warm milk, yeast, and 1 tablespoon sugar. Let stand 5-10 minutes until foamy.
Mix dough: Add remaining sugar, melted butter, eggs, and salt to yeast mixture. With dough hook, mix on low. Add flour 1 cup at a time. Knead 6-8 minutes until smooth and elastic.
First rise: Shape dough into ball and place in greased bowl. Cover and let rise in warm spot 1 hour until doubled in size.
Prepare filling: Mix softened butter, brown sugar, and cinnamon until spreadable. Toss diced peaches with 1 tablespoon flour to prevent excess liquid.
Roll and fill: Punch down dough. Roll into 16x12 inch rectangle. Spread cinnamon butter evenly, leaving 1/2 inch border. Scatter floured peaches over filling.
Roll and slice: Roll tightly into log, seam side down. Slice into 12 even rolls using dental floss or serrated knife. Arrange in greased 9x13 inch pan.
Second rise: Cover pan and let rise 30-45 minutes until puffy and touching. Preheat oven to 350°F while rising.
Bake: Bake 20-24 minutes until golden brown and internal temperature reaches 190°F. Cool in pan 10 minutes.
Make glaze: Beat softened cream cheese and butter until smooth. Add powdered sugar and vanilla. Mix in milk 1 tablespoon at a time until pourable. Glaze warm rolls.
Notes
Use ripe but firm peaches so they hold their shape and do not turn the filling watery.
Do not skip flouring the diced peaches to prevent excess juice from making the dough soggy.
Check milk temperature before adding yeast; milk that is too hot will kill the yeast.
Let the dough rise in a slightly warm oven with just the light on if your kitchen is cool.
Glaze the rolls while they are still warm so the glaze melts slightly into every swirl.
You can substitute frozen peaches: thaw completely, drain, and pat dry before dicing and flouring.
For overnight rolls: assemble the night before, cover tightly, refrigerate, then let come to room temperature and rise before baking.
Store leftovers in an airtight container at room temperature for up to 2 days, or refrigerate for up to 5 days.
Freeze unglazed rolls for up to 2 months wrapped tightly in plastic wrap and foil.
Reheat individual rolls in the microwave for 15-20 seconds, or warm whole pan in a 300°F oven for about 10 minutes.