Activate Yeast: In a mixing bowl, combine ½ cup of warm milk with 2 tablespoons of granulated sugar and 2 teaspoons of active dry yeast. Let sit for 5 to 10 minutes until frothy.

Mix Dough: Add 3 tablespoons of melted unsalted butter, 1 teaspoon of salt, and 1 large egg into the yeast mixture. Gradually incorporate about 3 to 4 cups of flour until a soft, slightly sticky dough forms.

Knead Dough: Transfer the dough to a lightly floured surface and knead for about 5 minutes until smooth and elastic. Let rise in a greased bowl for about 1 hour.

Prepare Filling: Mix together ¾ cup of peach preserves, 1 tablespoon of ground cinnamon, ¼ cup of brown sugar, ½ teaspoon of ground nutmeg, and 2 tablespoons of melted butter in a bowl until well combined.

Shape Dough: Roll the dough into a rectangle measuring 16x12 inches. Spread the peach filling evenly over the dough, leaving a ½-inch border.

Roll Up: Roll the dough tightly into a log from one long edge and cut into 12 even rolls.

Second Rise: Place sliced rolls in a greased baking pan and let rise for about 30 minutes.

Bake: Preheat oven to 350°F. Bake rolls for 20 to 25 minutes until golden brown.

Glaze: Whisk together 1 cup of powdered sugar, 2 tablespoons of milk, and 1 teaspoon of vanilla extract until smooth. Drizzle over warm rolls.