In a mixing bowl, whisk together the all-purpose flour, granulated sugar, instant yeast, and salt. In a small saucepan, gently warm the milk and butter over low heat until just melted. Pour the warm mixture into the dry ingredients and mix until a soft dough begins to form. Knead the dough on a lightly floured surface for about 5-10 minutes until smooth and elastic.

Place the kneaded dough in a greased bowl, turning it to coat in oil. Cover the bowl with a clean kitchen towel and let it rise in a warm area for approximately 1 hour, or until it has doubled in size.

Roll the dough out on a floured surface into a large rectangle. Spread the peach pie filling evenly over the surface and sprinkle a generous layer of cinnamon sugar atop. Roll the dough tightly into a log, then slice it into 12 equal rolls.

Arrange the sliced rolls into a greased baking dish, leaving space between each roll. Cover the dish loosely with plastic wrap and let the rolls rise again in a warm spot for 30-45 minutes.

Preheat your oven to 350°F (175°C). Once the second rise is complete, place the baking dish in the oven and bake the rolls for 25-30 minutes until golden brown.

Let the rolls cool slightly in the dish for about 10 minutes. Meanwhile, prepare the glaze by combining powdered sugar and vanilla extract, adding a splash of milk to achieve a smooth consistency. Drizzle the glaze generously over the warm rolls.