01 -
Combine flour, sugar, baking powder, and salt in a bowl. Mix in butter and milk to form a dough.
02 -
Roll out the dough into a rectangle on a floured surface.
03 -
Spread diced peaches on the dough, sprinkle with cinnamon and brown sugar, then drizzle with vanilla.
04 -
Roll the dough tightly from the long edge and pinch the edges to seal. Cut into 12 pieces.
05 -
Place the rolls in a greased baking dish and bake at 350°F (175°C) for 25-30 minutes until golden brown.
06 -
Mix powdered sugar and milk to create a glaze, then drizzle over the warm rolls.