Preheat your oven to 350°F (175°C). Lightly grease a 9x13-inch baking dish with butter or non-stick spray.
In a medium bowl, combine the sliced fresh peaches with 1/2 cup of sugar and 1 teaspoon of cinnamon. Toss gently to coat evenly and set aside.
Open the can of refrigerated cinnamon roll dough and separate the rolls. Place them evenly spaced in the prepared baking dish.
Spoon the cinnamon-sugar coated peaches over and around the cinnamon rolls in the dish, spreading evenly.
In a small bowl, mix together the brown sugar, all-purpose flour, and melted butter until coarse crumbs form. Stir in the vanilla extract and sprinkle evenly over the peaches and rolls.
Pour the heavy cream evenly over the entire dish to soak into the rolls and peaches.
Bake in the preheated oven for 30-35 minutes, until golden brown and bubbly.
Remove from oven and let cool for about 10 minutes before serving to allow the cream to set.