In a mixing bowl, cream together the softened butter, powdered sugar, and lemon zest until smooth.
In a separate bowl, combine warm water and yeast. Let it sit for 5 minutes until foamy.
Add the yeast mixture, granulated sugar, salt, and flour to the butter mixture. Mix until a dough forms.
Knead the dough on a floured surface for 5-7 minutes until smooth. Let it rise in a greased bowl for 1 hour.
Roll out the dough into a rectangle. Spread softened butter over the surface.
Mix brown sugar and cinnamon, then sprinkle over the butter. Add diced peaches and pecans.
Roll up the dough tightly and slice into rolls. Place them in a greased baking dish.
Let the rolls rise for 30 minutes. Preheat the oven to 350°F (180°C).
Bake the rolls for 25-30 minutes until golden brown. Serve warm.