In a small bowl, add the yeast and 2 teaspoon sugar to the water (be sure that the water is 110-115°F). 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 (should have risen a bit and look foamy) and stir.

Add the remaining flour. Knead the dough (by hand for 12 minutes) or by using the stand mixer on low speed for 10 minutes. The dough will be a bit sticky, but you should be able to touch the dough lightly with your finger and have it not stuck to your finger. (It might pull a bit, but should release from your finger). If it's too sticky, add an additional ¼ – ½ cup flour and knead an additional few minutes to make sure its well-incorporated.

Using greased hands, gather the dough into a ball and place into a greased glass 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 in volume, punch it down and then lay it on a greased countertop. Roll the dough into a large rectangle (mine was about 17" x 19").

Dollop the peach mixture over the dough and spread carefully with the back of a spoon.

Roll the dough up.

Use a piece of fishing line or unflavored floss to cut the dough into 12 equal pieces.

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

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

Sprinkle this over the cinnamon rolls.

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

Preheat oven to 350°.

Once the oven is preheated, bake the rolls for 18-22 minutes or until a light golden brown on top and a thermometer stuck into the center of a roll registers 190°F.

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