Peach jam or preserves fill a perfect impression in these sweet rolls. They will want seconds of this glazed goodness.
Flatten each roll into a 3-inch circle. Place circles on a large sprayed baking sheet. Cover with sprayed plastic wrap and let rise until double.
Remove wrap. With fingertips press indentation in the center of each roll. Spoon in about 1 tablespoon of jam.
Bake immediately at 350°F for 15-20 minutes (during baking cycle add more jam if desired). Remove from pan to cooling rack.
Combine powdered sugar, butter, vanilla and milk. Mix well. Brush each roll lightly with icing while still warm. After they have cooled, drizzle with remaining icing.