Thaw the rolls: Let the frozen rolls soften according to package directions, but do not let them fully rise.
Prepare the oven: Heat the oven to 350°F and lightly grease a loaf pan or line a baking sheet with parchment.
Mix the coating: Combine the sugar and cinnamon in one shallow bowl. Place the melted butter in another.
Fill the dough: Flatten two rolls, dip each in butter, coat with cinnamon sugar, and place a spoonful of peach filling between them. Pinch gently to seal.
Arrange and rest: Place the filled pieces close together in the pan, cover loosely, and let them rest for about 30 minutes.
Bake: Bake for 30 to 35 minutes, until golden brown and fully set in the center.
Make the glaze: Beat the softened cream cheese, powdered sugar, vanilla, and milk until smooth and pourable.
Finish: Cool the bread for 10 minutes, drizzle with cream cheese glaze, and serve warm.