Dissolve yeast into ½ cup of warm water (sprinkle it over the water and give it a quick stir). Once it turns foamy/bubbly you know it's activated (about 4-5 minutes). If it doesn't foam/bubble, your yeast is dead and you'll need to use another packet.

While the yeast is activating, make sure to warm your half and half in the microwave for a few seconds or in a small saucepan (if mixed together when cold, the mixture can shock the yeast, which can kill the yeast).

When the yeast has been activated, mix (in a standing mixer or hand held) yeast with half and half, butter, sugar, salt, egg, and vanilla extract.

Add flour slowly, as to not explode flour everywhere. Start with 3 cups of flour (if using a standing mixer, switch from the paddle attachment to the dough hook).

Mix dough until it pulls away from the bowl and turns into a ball. If the dough is sticky, add in the extra ½ cup of flour. If the dough is springy, it's ready.

Knead dough on a lightly floured surface for about 3-5 minutes. Form into a ball.

Place in an oiled bowl (I used cooking spray) and allow it to double in size, overnight in the fridge or for 1 ½ - 2 hours in a warm place.

Punch down the dough and roll it out into a rectangle on a lightly floured surface. The dough should be about 14"x8" or ⅛" - ¼" thick.

Spread 3 Tbsp of butter over the dough. Next, spread ½ cup of peach jam over the dough. Sprinkle diced peaches evenly over the jam. Lastly, sprinkle dough with ½ cup white sugar, 2 Tbsp brown sugar, and 3 tsp cinnamon.

Tightly roll up the dough and cut into 12-15 even slices.

Place in two 9" greased cake pans (or any baking dish you have) making sure there is space between each roll. Allow to rise once again for 30 minutes, or until the rolls have risen and are touching each other.

Bake in a 375 degree oven for about 15-17 minutes, or until golden brown.

Beat cream cheese and milk together until combined. Add in powdered sugar, beginning with a ¼ cup. If the consistency is too thin, add in the last ¼ cup of powdered sugar.

When the rolls are finished baking, spread a generous amount of glaze over the rolls.

Eat and enjoy!