Creating Peach Cobbler Cinnamon Rolls is easy when you follow these simple steps:

1. Preheat Your Oven: Start by preheating your oven to 350°F (175°C) and prepare a baking dish by greasing it or lining it with parchment paper.

2. Mix Dry Ingredients: In a large bowl, whisk together the flour, granulated sugar, baking powder, ground cinnamon, and salt until well combined.

3. Combine Wet Ingredients: In another bowl, mix the milk, melted butter, and eggs. Whisk until fully combined.

4. Combine Mixtures: Pour the wet ingredients into the dry ingredients. Stir until just combined, which should yield a sticky dough.

5. Prepare the Peaches: Gently fold in the diced peaches to your dough mixture, ensuring they are evenly distributed.

6. Roll Out the Dough: On a floured surface, turn out the dough and flatten it with your hands. Roll it out into a rectangle about ½-inch thick.

7. Prepare the Filling: In a small bowl, combine the brown sugar and ground cinnamon. Sprinkle this mixture evenly over the rolled dough.

8. Roll It Up: Starting from one edge, carefully roll the dough into a tight log.

9. Slice the Rolls: Using a sharp knife, slice the log into 1-inch pieces and place them upright in your prepared baking dish.

10. Bake: Place the baking dish in the preheated oven and bake for 25-30 minutes, or until the rolls are golden brown and cooked through.

11. Make the Glaze: While the rolls are baking, prepare the glaze by mixing the powdered sugar with 2 tablespoons of milk until smooth.

12. Glaze and Cool: Once the rolls are done baking, remove them from the oven and allow them to cool for about 10-15 minutes before drizzling with the glaze.

13. Serve: Enjoy these Peach Cobbler Cinnamon Rolls warm or at room temperature.

Following these steps will ensure that your Cinnamon Rolls are a decadent success!