Prepare the dough by warming milk to 110°F, then mix it with yeast and let sit for 10 minutes.

Mix dry ingredients in a bowl, then cut in butter until resembles coarse crumbs.

Combine the milk mixture and eggs with dry ingredients, knead for 5 minutes.

Let the dough rise in a greased bowl for about 1 hour until doubled in size.

Make the peach jam by simmering peaches, lemon juice, and sugar until thick, about 5-10 minutes.

Prepare cinnamon crumb topping by mixing flour, brown sugar, cinnamon, and melted butter, then bake at 350°F for 8 minutes.

Make the filling by mixing softened butter, brown sugar, cinnamon, and salt until smooth.

Roll out the dough, spread filling and peach jam, sprinkle crumb topping, and roll into a log.

Let the sliced rolls rise for another 20 minutes while preheating the oven to 375°F.

Bake for 23-26 minutes until golden brown.

Make the icing by beating cream cheese and butter, then adding powdered sugar and optional jam.

Ice the warm rolls with cream cheese icing and sprinkle with leftover crumb topping.