2 Cups Diced and Peeled Fresh Peaches (This equals about 4 med-large peaches. Make sure to cut out dark brown spots while peeling; add as many peaches that you'd like)
1/4 Cup Brown Sugar
1/4 Cup Orange Juice
1 t. Ground Cinnamon
1 t. Vanilla Extract
1 Package Frozen or Refrigerated Cinnamon Rolls
Preheat oven to 350. Take first five ingredients and combine in saucepan; stir. Bring mixture to a boil. Let boil for a couple of minutes; stir periodically. Next..grease 13X9 baking dish; place uncooked cinnamon rolls around dish. Then, take the peach mixture and spread around the sides of the cinnamon rolls. Bake cinnamon rolls as directed on package; just until golden brown. Place icing in a dish that can be warmed up in the microwave. Serve the peach rolls warm - drizzle icing, serve with ice-cream or even just pour some milk on top. Enjoy...the Meals in a Rush way!