Preheat your oven to 350°F (175°C). Grease a 9×13 inch baking dish.
Prepare the Peach Filling:
In a large mixing bowl, combine the sliced peaches, granulated sugar, cornstarch, vanilla extract, cinnamon, and lemon juice (if using). Toss until the peaches are well coated.
Transfer to Baking Dish:
Pour the peach mixture into the prepared baking dish, spreading it evenly.
Prepare the Cinnamon Roll Topping:
Open the cinnamon rolls and cut each roll into quarters. Arrange the pieces evenly over the peach filling.
Add Butter and Cinnamon:
In a small bowl, mix the melted butter, cinnamon, and brown sugar (if using). Drizzle this mixture evenly over the cinnamon roll pieces in the baking dish.
Add Nuts (Optional):
If using, sprinkle the chopped pecans or walnuts on top of the cinnamon roll pieces.
Bake:
Bake in the preheated oven for about 25-30 minutes, or until the cinnamon rolls are golden brown and the peach filling is bubbling.
Cool and Drizzle:
Once baked, remove from the oven and let it cool for a few minutes. Drizzle the icing from the cinnamon rolls over the top while still warm.
Serve:
Serve warm, either on its own or with a scoop of vanilla ice cream for an extra treat!
