Activate the yeast: Stir warm milk, yeast, and a pinch of sugar together. Rest for 5 to 10 minutes until foamy.
Make the dough: Mix in the remaining sugar, eggs, and melted butter. Add flour and salt gradually, then knead for 6 to 8 minutes until smooth.
Let it rise: Cover the dough and let it rise for about 60 minutes, until doubled in size.
Cook the peach filling: Simmer peaches, lemon juice, sugar, and cornstarch for 5 to 7 minutes until thick and glossy. Cool completely.
Prepare the crumble: Combine flour, brown sugar, cinnamon, and melted butter. Bake at 350°F for 8 to 10 minutes, then cool and break into pieces.
Fill the dough: Roll dough into a 15 by 20-inch rectangle. Spread with butter, brown sugar, cinnamon, and nutmeg, then add the cooled peach filling.
Shape the rolls: Roll tightly from the long side and cut into 12 pieces. Arrange in a greased 9 by 13-inch dish and let rise for 25 to 35 minutes.
Bake: Bake at 350°F for 28 to 34 minutes, until golden and cooked through.
Glaze and serve: Beat cream cheese, powdered sugar, vanilla, and milk until smooth. Spread over warm rolls and top with crumble.