In a large saucepan, whisk together sugar, water, cornstarch, and lemon juice. Bring to a boil over medium heat, stirring often. Cook until thickened, about 2-3 minutes. Remove from the heat and stir in vanilla and peaches. Cool.
In a bowl combine sugar with cinnamon and set aside. In another bowl beat eggs with milk and set aside.
Remove the bread crust, and flatten the slices with a rolling pin. Spread cream cheese evenly on each slice of bread. Add about 1-2 teaspoons of the peach filling along one edge of the bread, the roll them up.
Gently but tightly roll up the bread around the peach filling. Continue with the remaining bread.
Heat a non-stick pan over medium heat and melt about 1 tbsp of butter.
Coat the rolls in the egg mixture and place seam side down. Cook 3-4 roll at a time. When browned, turn a quarter turn and continue until all sides are cooked and browned nicely.
Clean the pan slightly with a paper towel and repeat until all rolls are cooked. Roll into the sugar cinnamon mixture. Serve warm and dip in maple syrup if desired.