In a large mixing bowl, whisk together warm milk and granulated sugar, then sprinkle active dry yeast on top. Let it stand for 5 to 10 minutes until foamy.

Once foamy, stir in softened unsalted butter, salt, and one large egg. Gradually add all-purpose flour to form a soft dough.

Knead the dough on a floured surface for about 5 minutes until smooth and elastic, then let it rise in a greased bowl for about 1 hour.

Prepare the filling by mixing peach preserves, ground cinnamon, brown sugar, ground nutmeg, and melted butter in a small bowl until smooth.

Roll the risen dough into a 16x12-inch rectangle, ensuring even thickness.

Spread the peach filling evenly over the rolled-out dough, leaving a ½-inch border.

Starting from one long side, tightly roll the dough into a log and trim the ends.

Cut the log into 12 equal slices and place them cut-side up in a greased baking pan. Let them rise for another 30 minutes.

Preheat your oven to 350°F (175°C) and bake the rolls for 20 to 25 minutes until golden brown.

Allow the rolls to cool slightly before whisking together the glaze ingredients and drizzling over the warm rolls.