Sprinkle the yeast over ½ cup of warm water (between 105°F and 115°F), give it a quick stir, and let it sit until foamy—about 4 to 5 minutes.

While the yeast activates, gently warm the half-and-half (or your choice of milk or cream) to avoid shocking the yeast.

In a large mixing bowl or stand mixer, combine the activated yeast, warmed dairy, butter, sugar, salt, egg, and vanilla extract.

Gradually add in 3 cups of flour. If using a stand mixer, switch from the paddle to dough hook once it comes together. Add up to ½ cup more flour if the dough is sticky. When the dough becomes springy and pulls away from the bowl, it’s ready.

Knead on a lightly floured surface for 3–5 minutes until smooth. Shape into a ball and place in a greased bowl. Cover and let rise for 1½–2 hours in a warm area or overnight in the refrigerator.

Punch down the dough and roll into a 14″×8″ rectangle (about ⅛″–¼″ thick) on a floured surface.

Spread softened butter over the dough, followed by peach jam. Scatter diced peaches evenly, then sprinkle with granulated sugar, brown sugar, and cinnamon.

Roll the dough tightly into a log and slice it evenly into 12 to 15 pieces.

Place rolls in two greased 9″ pans, spaced slightly apart. Cover and let rise for 30 minutes or until the rolls are touching.

Bake in a preheated 375°F oven for 15–17 minutes or until golden.

For the glaze, beat softened cream cheese and milk until smooth. Add powdered sugar starting with ¼ cup and increase gradually if needed until desired consistency is reached.

Spread the glaze over warm rolls and serve.