In the bowl of a stand mixer fitted with the dough hook, combine the warm milk (110°F or below) and active dry yeast. Let sit for 5 minutes until foamy.

Add the sugar and eggs and mix until combined. Add the flour and salt, mixing until a shaggy dough forms. With the mixer on low speed, add the softened butter a few tablespoons at a time until fully incorporated. Continue kneading for 10–15 minutes, or until the dough is smooth, elastic, and passes the windowpane test.

Transfer the dough to a lightly greased bowl, cover, and refrigerate overnight. If needed, chill for at least 2 hours before shaping.

Beat the butter, dark brown sugar, cinnamon, and salt together until light and fluffy. Set aside.

Chop the peaches into 1-inch pieces. Melt the butter in a saucepan, add the peaches, and cook for 2–3 minutes. Stir in the dark brown sugar, cinnamon, nutmeg, and salt. Simmer for 10–15 minutes, or until the peaches are tender and most of the liquid has evaporated.

Whisk together the cornstarch and water, then stir it into the peaches. Cook for 1–2 minutes, or until thickened. Cool completely.

Mix together the flour, dark brown sugar, cinnamon, salt, and oats. Stir in the melted butter until coarse crumbs form.

Lightly flour your working surface. Roll the chilled dough into a 12 x 20-inch rectangle about ¼-inch thick.

Spread the cinnamon filling evenly over the dough, then top with the cooled peach filling. Cut the dough into 2-inch strips and roll each strip into a cinnamon roll.

Arrange the rolls in a parchment-lined 9 x 13-inch pan. Spoon about 1 tablespoon of the remaining peach filling into the center of each roll and generously sprinkle the crumble over the top. Cover and let rise for 45–60 minutes, or until doubled in size.

Preheat the oven to 350°F.

Pour the heavy cream around and between the cinnamon rolls just before baking. Bake for 35–40 minutes, or until golden brown and the centers reach 200°F. Cool for 10 minutes.

Whisk together the powdered sugar, melted butter, vanilla extract and heavy cream until smooth. Drizzle over the warm cinnamon rolls and serve.