In a small bowl, combine the brown sugar, ground cinnamon, and softened butter. Mix well until you have a smooth paste and set aside to allow the flavors to marry.

In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, and salt until well blended.

In another bowl, mix the milk, egg, melted butter, and vanilla extract until fully combined. Pour this mixture into the dry ingredients and stir gently.

Preheat a non-stick skillet or griddle over medium heat. Lightly grease with cooking spray or butter.

Pour about 1/4 cup of the pancake batter onto the skillet.

Immediately drizzle some of the cinnamon swirl mixture over the pancake and swirl it into the batter.

Cook until bubbles form on the surface, about 2–3 minutes. Flip carefully and cook for another 1–2 minutes until golden brown.

In a medium bowl, beat together the softened cream cheese, powdered sugar, milk, and vanilla extract until smooth and creamy.

Stack your pancakes high on a plate and drizzle generously with the cream cheese glaze.

Serve your Fluffy Cinnamon Roll Pancakes warm.