In a large mixing bowl, combine 4 cups of all-purpose flour, 2 packets of yeast, ¼ cup of sugar, and ½ cup of softened unsalted butter. Gradually mix in 1 cup of warm milk until a soft dough forms. Knead the dough on a floured surface for about 5–7 minutes until it's smooth and elastic.

Once the dough has risen, gently punch it down to release the air. On a lightly floured surface, knead the dough again for another minute. Shape it into a ball, then return it to the greased bowl. Cover the bowl and let it rise for an additional 30 minutes.

In a medium bowl, mix together 2 cups of peach pie filling, 1 teaspoon of ground cinnamon, and 2 tablespoons of brown sugar until well combined.

After the second rise, punch down the dough and roll it out on a floured surface into a rectangle, approximately 18x12 inches. Spread the peach pie filling evenly over the dough.

Beginning at one long edge, tightly roll the dough away from you to form a log. Pinch the seam to seal it, then slice the log into 12 equal pieces. Arrange the slices in a greased 9x13 inch baking dish.

Cover the baking dish with a cloth and let the shaped rolls rise in a warm spot for about 30 minutes or until they have puffed up.

Preheat your oven to 350°F (175°C). Bake the rolls for 25–30 minutes, or until they are golden brown.

While the rolls are baking, whisk together 4 ounces of cream cheese, 1 cup of powdered sugar, and 2 tablespoons of milk in a small bowl until smooth. Once the rolls are baked, drizzle the glaze generously on top.