9×13-inch baking dish.
Cover the dish and let the rolls rise for another 30 minutes.
Bake the Rolls:
Preheat the oven to 350°F (175°C).
Bake the rolls for 25-30 minutes, until golden brown and cooked through.
Allow the rolls to cool slightly in the pan.
Prepare the Vanilla Glaze:
Whisk together the powdered sugar, vanilla extract, and enough milk in a small bowl to reach a drizzling consistency.
Drizzle the glaze over the warm rolls.
Serving: Serve the Peach Cinnamon Rolls warm, allowing the vanilla glaze to melt slightly into the rolls for an extra touch of sweetness. Enjoy!
