Stir warm milk and set aside for 10 minutes
Mix ¼ cup sugar, softened butter, salt, egg, and 3 ½ cups flour
Cover dough and let rise for 1 hour
Combine 3 cups peaches, ⅓ cup brown sugar, white sugar, cinnamon, nutmeg, cayenne, cornstarch, butter, and lemon juice
Cook peach mixture until it starts getting thick
Mix 1 stick softened butter, ½ cup brown sugar, and cinnamon together
Roll out dough and spread butter mixture on top
Dump peach filling over butter mixture and roll
Butter a pan and place rolls in it
Let rise and bake in the oven
