In a small bowl, add the yeast and 2 teaspoon sugar to the water. Give it a stir and set aside.

In the bowl of a stand mixer fitted with the dough attachment, add the warm milk, ⅓ c sugar, mashed potatoes, butter, egg yolk, salt and vanilla. Stir until the butter is melted.

Add 1 cup of the flour and stir to combine.

Pour in the yeast mixture and stir.

Add the remaining flour. Knead the dough for 10 minutes using the stand mixer on low speed or by hand for 12 minutes.

Place the dough in a greased bowl, cover with plastic wrap and set in a warm place to rise for 60-90 minutes.

Combine the sugar, melted butter, flour and cinnamon. Gently stir in the diced peaches.

Once the dough has doubled, punch it down and roll into a rectangle.

Dollop the peach mixture over the dough and spread carefully.

Roll the dough up and cut into 12 equal pieces.

Place the rolls into a greased 9×13" pan.

Combine softened butter, brown sugar and flour until a crumb mixture forms.

Sprinkle this over the cinnamon rolls and let rise for 30-60 minutes.

Preheat oven to 350°.

Bake the rolls for 18-22 minutes or until golden brown and cooked through.

Stir together the icing ingredients and drizzle it over the rolls.