In a large bowl, whisk together 3 1/2 cups flour, brown sugar yeast, and salt.
Then, add in the dairy free milk.
Using a spatula, fold until mostly combined. Sprinkle a little more flour if needed to not be sticky and form a ball.
Once ball is formed, grease the same bowl mixed in and place the dough ball back into the bowl. *If you are oil free, then just make sure sides of bowl are floured, or use a silicone bowl to easily get it out
Cover with a towel or plastic wrap and let sit for 60-90 minutes in a warm, draft free place until doubled.
Once doubled in size, pull out the dough and lay it out on a lightly floured surface.
Using a rolling pin, roll dough into an approximately 17×25″ rectangle that is 1/4″ thick.
In a bowl, combine the brown sugar, cinnamon, and nutmeg.
Brush the butter for the filling across the dough.
Sprinkle the cinnamon sugar mixture all across the top.
Evenly spread out all the peaches.
Grate the lemon zest over the peaches.
Carefully roll cinnamon rolls into log from the longest side up. One completely rolled, place seam side down. Cut into 12 even sized pieces.
Place into a greased 9x13 baking dish and cover with a damp towel. Let rise in a warm, draft free place for 20-30 minutes or until the cinnamon rolls are starting to touch each other.
Combine the coconut cream and vanilla and drizzle it evenly across the top.
Preheat oven to 350 degrees F.
Once heated, place dish inside and bake in oven for 28-35 minutes.
While cooking whisk the glaze ingredients together in a bowl.
Remove cinnamon rolls from oven. Let cool for 10 minutes, then top with glaze. Best served warm.