In a large mixing bowl, combine 1 cup of warm milk, 2 tablespoons of sugar, and 2 teaspoons of instant yeast. Allow it to sit for 5-10 minutes until bubbly.

Incorporate 3.5 cups of all-purpose flour, 1 teaspoon of salt, 1/4 cup of softened butter, and 2 beaten eggs. Stir until a soft dough forms.

Transfer the soft dough onto a floured surface and knead for 5-7 minutes until smooth and elastic.

Place the kneaded dough into a greased bowl, cover, and let it rise in a warm place for about 1 hour, until doubled in size.

After rising, punch down the dough gently and roll it into a rectangle about 1/4 inch thick.

Spread a generous layer of peach pie filling over the dough and sprinkle with a mixture of 2 tablespoons of sugar and 1 tablespoon of cinnamon.

Starting from one long edge, roll the dough tightly into a log and slice into 12 equal pieces.

Arrange the rolls in a greased baking dish standing upright.

Cover and allow the rolls to rise for another 30-45 minutes until puffy.

Preheat oven to 350°F (175°C). Bake for 25-30 minutes until golden brown.

Prepare the glaze by whisking together 1 cup of powdered sugar, 1 teaspoon of vanilla extract, and milk until smooth. Drizzle over slightly cooled rolls.