I begin by chopping most peaches into small chunks and simmering them with sugar, spices, and lemon juice. As they soften and release juice, a cornstarch mixture thickens everything into a spoonable filling. Let it cool completely before using so it spreads easily.
I activate yeast in warm water and sugar until foamy, then mix it with flour, butter, milk, eggs, and salt. Once kneaded smooth and elastic, the dough rests in a warm spot until doubled. This step builds fluffy texture and flavor.
I roll the risen dough into a large rectangle and spread softened butter over it. Then I add the brown sugar mixture and peach filling evenly. Rolling it tightly into a log, I slice thick rolls and arrange them in a pan.
After a short second rise, I sprinkle streusel crumbs over the rolls for crunch. They bake until golden, puffed, and bubbly around the edges. The smell at this stage is absolutely irresistible.
While warm, I whisk together powdered sugar, peach filling, milk, vanilla, and lemon juice. I drizzle the glaze generously so it melts slightly into the rolls, creating sticky sweetness in every bite.