In a mixing bowl, whisk together the flour, baking powder, salt, and granulated sugar.
Add the milk, egg, and melted butter, whisking until just combined. Do not overmix.
In a small bowl, mix the brown sugar, cinnamon, and melted butter for the cinnamon swirl. Transfer to a piping bag or ziplock bag and set aside.
Heat a griddle or non-stick skillet over medium heat and lightly grease with butter or oil.
Pour 1/4 cup of pancake batter onto the griddle and immediately pipe a cinnamon swirl onto the batter.
Cook until bubbles form on the surface and the edges begin to set, about 2 minutes. Flip and cook for another 1-2 minutes.
Repeat with the remaining batter and cinnamon swirl mixture.
For the glaze, whisk together the softened cream cheese, powdered sugar, vanilla extract, and milk until smooth.
Drizzle the glaze over warm pancakes before serving.