In a mixing bowl, combine flour, sugar, baking powder, and salt.
In another bowl, whisk together milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir until just combined.
In a small bowl, mix brown sugar and cinnamon to create the cinnamon filling.
Heat a non-stick skillet over medium heat and lightly grease it.
Pour about 1/4 cup of pancake batter onto the skillet.
Sprinkle a spoonful of the cinnamon mixture over the pancake batter.
Once bubbles form on the surface, flip the pancake and cook until golden brown.
Repeat with remaining batter and cinnamon mixture.
For the glaze, mix powdered sugar, cream cheese, and milk until smooth.