In the bowl of a mixer dissolve yeast in warm milk.
Add sugar, butter, salt, eggs and three cups of the flour to the bowl and using the dough hook attachment, mix on low (speed 2) until combined and the dough comes together.
Add more flour, in ¼ cup measures, continuing to mix until dough cleans sides of the bowl.
Dough should be very slightly sticky.
Shape dough into a ball and place in a greased bowl, turning to grease the top.
Cover with plastic wrap and set in a warm place to rise until doubled in size, about an hour.
While dough is rising, preheat oven to 350°.
Spread pecans on a baking sheet and toast in the oven for 6 minutes, turning halfway through. Remove nuts from oven and allow to cool.
Combine brown sugar, cinnamon, and melted butter to make the filling.
Line a 9 x 13 baking pan with parchment paper
Punch the dough down to release air.
On a lightly floured surface, roll out the dough to form a rectangle about 18" by 12".
Spread the cinnamon filling evenly over the dough. Sprinkle with pecans, then with chopped peaches.
From the 18" edge, carefully roll the dough into a long roll.
Cut the log into 12 equal rolls using a very sharp knife.
Place the rolls in the parchment-lined baking pan.
Cover with a clean damp dish towel and allow to rise again in a warm location, about an hour.
Bake in the center of the oven for 20-25 minutes, or until golden and a wooden skewer poked in the center comes out clean.
When slicing the dough rolls, you can use un waxed dental floss or kitchen string. Just slide the floss under the roll, then bring the ends up each side, and cross them at the top, stretching each end until the roll is sliced.Prep time indicated includes 1 hour for dough to rise.