In the bowl of a stand mixer fitted with the paddle attachment (you can make these with hand beaters, too), place the ¼ cup of butter, 1 teaspoon of salt, and ¼ cup of sugar. In a small saucepan, scald the 1 cup of milk.
To scald milk, heat the milk over medium heat high to nearly boiling. Remove from the heat and pour over the contents of the mixing bowl.
Allow to cool to a warm but not hot temperature (a little warmer than a baby’s bath water). This takes 20-30 minutes.
In a small bowl, dissolve the yeast and ½ teaspoon sugar in ⅓ cup warm water.
Let stand until foamy. About 5 minutes.
Pour the foamy yeast, 2 eggs, and 2 cups of flour into the mixing bowl.
Mix on low just until everything is mixed together.
Then beat on medium-high for 5 minutes. Don’t skimp on the time. You must beat it for 5 minutes.
Add the remaining 1 ½ cups flour. Mix until incorporated.
This is a batter dough, so the dough is going to be sticky and gooey, it will not be a ball of dough. Cover the dough and let rise until doubled. This will take an hour to an hour and a half.
Punch down the dough, recover, and let rise a second time until doubled. This will only time ½ the time of the first rise.
While the dough is rising for a second time, spray a 9×13 baking dish with non-stick cooking spray and set it aside. In a small bowl, beat the cream cheese, butter, sugar, and vanilla together until smooth and lump-free. Set aside. Peel, slice, and dice enough peaches to measure 2 cups of peach pieces and reserve a peach half for the icing.
Dump the risen dough out onto a floured surface. Knead gently just enough so the dough is not sticky. This won’t take a lot of flour. Remember, this is a soft dough and should not be a stiff ball of dough like bread dough would be. Roll out into a rectangle that is roughly 20×14 inches. Spread the cream cheese filling over the top of the rolled-out dough. Dump the peach pieces in a ziploc bag with the cornstarch and shake well.
Evenly distribute them over the cream cheese filling.
Roll up jelly-roll style and slice into 12 one-and-a-half-inch thick slices. And, yes, this can be a bit messy, and it works best to slice them with dental floss.
Place the slices in a 9x13 baking dish that has been sprayed with non-stick cooking spray.
Cover and let rise until nearly doubled, and while your oven preheats to 350 degrees.
Bake your sweet rolls in the preheated oven for 25-35 minutes.
While they are baking, puree roughly ½ a peach, giving you about ½ cup of peach puree. Beat in the powdered sugar until it is smooth and makes a pretty peach icing.
Drizzle the icing over warm but not hot sweet rolls.
Serve warm or cool before serving. Store in the fridge.