1. In a bowl, combine flour, sugar, yeast, and salt.
2. In a saucepan, heat milk and melted butter until warm, then add to the dry ingredients.
3. Add the egg and mix until a dough forms.
4. Knead the dough for about 5 minutes until smooth.
5. Let the dough rise in a warm place for 1 hour.
6. Roll out the dough into a rectangle and spread cream cheese over it.
7. Sprinkle diced peaches, cinnamon, and brown sugar on top.
8. Roll the dough tightly and cut into rolls.
9. Place rolls in a greased baking dish and let rise for another 30 minutes.
10. Bake at 350°F (175°C) for 25-30 minutes until golden brown.
11. Mix powdered sugar with a little milk to create a glaze and drizzle over the warm rolls.

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