Creating Peach Cobbler Cinnamon Rolls is an enjoyable and straightforward process. Follow these steps for perfectly soft and delicious rolls:

1. Preheat Oven: Preheat your oven to 350°F (175°C). Prepare a baking dish by greasing it lightly.
2. Mix Dry Ingredients: In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, salt, and ground cinnamon until well combined.
3. Combine Wet Ingredients: In another bowl, mix the milk, melted butter, egg, and vanilla extract until smooth.
4. Combine Mixtures: Gradually pour the wet mixture into the dry ingredients. Stir until a dough forms.
5. Knead the Dough: On a floured surface, knead the dough gently for about 1-2 minutes until it’s soft and smooth.
6. Roll Out the Dough: Using a rolling pin, stretch the dough into a rectangle about ¼ inch thick.
7. Prepare Filling: In a small bowl, combine diced peaches and brown sugar. Spread this mixture evenly over the rolled-out dough.
8. Roll Up: Starting from one edge, carefully roll the dough into a log. Pinch the seam to seal it.
9. Slice into Rolls: Cut the log into even pieces, about 1 to 1 ½ inches thick. Arrange these rolls in the greased baking dish.
10. Bake: Place the dish in the preheated oven and bake for 25-30 minutes, or until the tops are golden brown.
11. Cool: Remove the rolls from the oven and let them cool in the dish for about 15 minutes.
12. Prepare Icing: In a small bowl, combine powdered sugar and cream or milk until you achieve a smooth, pourable consistency.
13. Drizzle Icing: Once cooled, drizzle the icing over the warm rolls using a spoon.

With these steps, your Peach Cobbler Cinnamon Rolls are ready to be enjoyed!