Sweet Monkey

In a small bowl, microwave milk to 110°F for 60 seconds. Place warm milk and yeast into a stand mixer bowl fitted with a paddle and let it sit for 10 minutes. Pour eggs, melted butter, and sugar into the yeast mixture and beat until combined. Slowly add the flour-salt mixture until incorporated. Let it sit for 5 minutes. Change the paddle to a dough hook, then beat for 8 minutes. Transfer dough to a greased bowl and cover it with a towel. Let dough rise for 90-120 minutes in a warm place. 20 minutes before the dough is ready, dice peaches and add cinnamon. On the stovetop, in a medium pan, on medium heat, cook peaches for about 5 minutes. Put peaches in a bowl and set in the fridge to cool down. Peaches should be lukewarm, not hot. Make the filling: combine melted butter, brown sugar, and cinnamon together. Make the crumb: combine flour, brown sugar, cinnamon, and melted butter. Punch down dough. Roll out dough into a rectangular shape and spread the filling on top of the dough. Lay out peaches on top of the dough. Sprinkle a handful of crumb over the peaches. Roll the dough into a log shape and slice into large rolls. Place them into a 9x13 baking dish. Sprinkle remaining crumb on top of the rolls. Preheat oven to 375°F. Bake for 28-32 minutes. Make the glaze: combine powdered sugar, maple syrup, and milk. Remove rolls from oven and pour glaze on top! Enjoy!