In a small bowl, add the yeast and 2 teaspoons of sugar to the warm water. Stir and set aside.

In the bowl of a stand mixer, combine the warm milk, ⅓ cup sugar, mashed potatoes, melted butter, egg yolk, salt, and vanilla. Stir until the butter melts.

Add 1 cup of flour and stir to combine.

Pour in the yeast mixture and stir.

Add the remaining flour. Knead the dough by hand for 12 minutes or use a stand mixer on low speed for 10 minutes until slightly sticky but does not stick to your finger. Add an extra ¼ – ½ cup flour if too sticky and knead for a few more minutes.

Gather the dough into a ball and place it in a greased bowl. Cover with plastic wrap and let rise in a warm place for 60-90 minutes.

For the filling, combine the sugar, melted butter, flour, and cinnamon. Gently stir in the diced peaches.

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

Dollop the peach mixture over the dough and spread it carefully.

Roll the dough up and cut it into 12 equal pieces.

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

For the crumb topping, combine the softened butter, brown sugar, and flour until crumbly.

Sprinkle the crumb topping over the cinnamon rolls.

Cover with plastic wrap and let rise in a warm place for 30-60 minutes until puffy.

Preheat the oven to 350°F.

Bake the rolls for 18-22 minutes or until golden brown and a thermometer inserted in the center registers 190°F.

Stir together the icing ingredients and drizzle over the rolls once they are out of the oven.