Prepare the Peach Filling: In a saucepan, combine cubed peaches, granulated sugar, and lemon juice over medium heat. Cook for 12-15 minutes until thickened.

Make the Roux: Whisk together flour and water in a saucepan over medium heat for 4-5 minutes until thick, then let cool.

Prepare the Dough: In a mixer, combine flour, sugar, yeast, and salt. Add warm milk, egg, vanilla extract, and the cooled roux. Knead until smooth and elastic.

Let the Dough Rise: Shape into a ball, place in greased bowl, cover, and let rise for 1 hour until doubled in size.

Prepare the Crumb Topping: Mix melted butter, brown sugar, cinnamon, and flour until crumbly. Chill in the refrigerator until needed.

Assemble the Rolls: Roll the dough into a rectangle, spread filling, cut into strips, roll, and place in a baking dish to rise for another hour.

Bake the Rolls: Preheat oven to 325°F, sprinkle topping, bake for 30-35 minutes until golden brown.

Make the Frosting: Blend cream cheese and butter until smooth, add powdered sugar and heavy cream until desired consistency is reached.

Drizzle and Serve: Drizzle frosting over warm rolls and garnish with peach slices before serving.