Step 1: Prepare the Dough

1. In a large mixing bowl, combine 4 cups of flour, instant yeast, granulated sugar, and salt.
2. Add the warm milk, melted butter, and beaten eggs to the dry ingredients. Mix until a dough forms.
3. Transfer the dough to a floured surface and knead for about 5–7 minutes until smooth and elastic. If the dough is sticky, add a little more flour as needed.
4. Place the dough in a greased bowl, cover with a clean cloth, and let it rise in a warm place for about 1 hour, or until doubled in size.

Step 2: Prepare the Peach Filling

1. In a medium bowl, mix the sliced peaches, brown sugar, cornstarch, cinnamon, vanilla extract, and lemon juice. Set aside to allow the flavors to meld.

Step 3: Assemble the Cinnamon Rolls

1. Once the dough has risen, punch it down and roll it out on a floured surface into a rectangle (about 16×12 inches).
2. Spread the softened butter over the rolled-out dough.
3. In a small bowl, mix the granulated sugar and cinnamon together. Sprinkle this mixture evenly over the buttered dough.
4. Evenly distribute the peach filling over the cinnamon sugar layer.
5. Starting from one long side, carefully roll the dough into a tight log. Pinch the seams to seal.
6. Using a sharp knife, cut the log into 12 equal slices. Place the rolls in a greased 9×13 inch baking dish.

Step 4: Bake

1. Cover the baking dish with a cloth and let the rolls rise for another 30 minutes.
2. Preheat your oven to 350°F (175°C).
3. Bake the rolls in the preheated oven for 30–35 minutes, or until golden brown and cooked through.

Step 5: Make the Glaze

1. In a small bowl, whisk together the powdered sugar, milk, and vanilla extract until smooth. Adjust the consistency by adding more milk or powdered sugar as needed.

Step 6: Serve

1. Once the rolls are out of the oven, drizzle the glaze over the warm rolls.
2. Serve warm and enjoy the delightful combination of peach and cinnamon flavors!