In a bowl, whisk together flour, sugar, salt, and yeast. In another bowl, mix warm milk, melted butter, and beaten eggs. Combine wet and dry ingredients to form a shaggy dough.
Knead the dough on a floured surface for about 6-8 minutes until smooth. Let it rise in a warm place until doubled in size (1-1.5 hours).
While dough rises, combine diced peaches with sugar, flour, cinnamon, and nutmeg for the filling.
Roll out the risen dough into a rectangle. Spread softened butter mixed with brown sugar and cinnamon over it, then layer the peach filling.
Roll tightly into a log and cut into slices. Arrange in a greased baking dish and let rise again for 30-45 minutes.
Preheat oven to 350°F (175°C) and bake rolls for 25-30 minutes until golden brown.
Cool slightly before frosting with whipped cream cheese mixture.