Ingredients

• 1 package yeast
• 1 cup warm milk (about 110 degrees F)
• pinch of sugar
• 1/4 cup unsalted butter
• 1 1/2 teaspoons pure vanilla extract
• 1 large egg yolk
• 2 3/4 cups all-purpose flour
• 1/4 cup sugar
• 3/4 teaspoon salt
Filling
• 8 tablespoons softened butter (should be spreadable but not melted)
• 1/3 cup granulated sugar
• 1 tablespoon ground cinnamon
• 2 ripe peaches, pitted and sliced
For the Glaze
• 4 slices bacon, cooked and crumbled
• 1 cup packed light brown sugar
• 1 teaspoon vanilla extract
• 1/4 cup water
• 1/2 cup pecans, chopped and roasted

Directions

1. Butter a 9 by 13-inch baking pan.
For the glaze:
2. Combine the bacon, sugar, vanilla and water in a saucepan and bring to a boil; boil until slightly thickened. Reserve a small portion of the glaze (about 1/4 cup) for later. Pour the remaining glaze (majority) into the prepared pan, and scatter the nuts over the top.
For the dough:
3. Sprinkle yeast over warm milk with a pinch of the granulated sugar; set aside until foamy, about 5 minutes. Melt 1/4 cup butter (make sure it is cooled slightly) and whisk into yeast with vanilla and egg yolk.
4. Whisk the flour, 1/4 cup sugar, and salt in a large bowl. Stir in yeast mixture to make a sticky dough. Knead the dough on a floured work surface until soft and elastic, 6 to 8 minutes. (Dough will be soft and elastic, but not sticky.) Shape into a ball, brush with a little melted butter and put into a large bowl. Cover with plastic wrap and let rise until doubled, about 1 hour.
5. Knead the dough and reform into a ball. Return to the bowl, cover with buttered plastic wrap and refrigerate for 4 hours.
For the filling:
6. Roll the dough into 10 by 18-inch rectangle with a long edge facing you. Spread soft butter over the surface. Whisk 1/3 cup sugar and cinnamon together, scatter over butter. Scatter sliced peaches evenly across the rolled out dough. Roll into a long tight cylinder; pinch long edge to seal. Cut into 1 1/2-inch rolls with kitchen string or slice with a serrated bread knife. Evenly space the rolls in the pan. Cover and let rise, at room temperature, until doubled, about 1 1/2 hours.
7. Preheat the oven to 350 degrees F.
8. Bake until golden, 30 to 35 minutes. Rest at room temperature 10 minutes. Separate and place onto serving dish, top with reserved glaze, and serve warm.