Heat milk to about 90 degrees. Stir in butter, but it doesn't have to completely melt.

Pour into a large bowl and add sugar and yeast. Stir to combine and set aside for about 5 minutes or until yeast starts to bubble.

Add egg and mix well.

Add 2 cups of flour and stir to combine. Add salt and flour 1/2 cup at a time until dough comes together and pulls away from the sides of the bowl.

Pour onto a well floured surface and knead, adding more flour as needed 3 to 5 minutes or until dough is no longer sticky.

Cover dough and allow to rise 45 minutes to 1 hour until sought has doubled.

Punch down the dough, pressing out the air bubbles.

Roll into a rectangle, about 12" x 15".

Coat 2 pie plates with non stick spray or butter.

Mix peach preserves and cinnamon together in a small bowl. Spread evenly over dough. Carefully roll from the long side and pinch the edge seam to seal.

Cut into 1 inch rolls. Place in butter pie plates. Cover loosely and allow to rise about 30 minutes. Meanwhile, preheat the oven to 375 degrees.

Bake for 22- 25 minutes or until golden brown and rolls are cooked through in the center.

Mix milk, powdered sugar and cinnamon together until smooth. Spoon over cooked rolls. Allow to cool slightly to serve warm or serve at room temperature.