In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, and salt.
In another bowl, combine the milk, egg, melted butter, and vanilla extract. Mix well.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix; a few lumps are okay.
In a small bowl, mix together the brown sugar and ground cinnamon.
Heat a skillet or griddle over medium heat and lightly grease with cooking spray or butter.
Pour about 1/4 cup of pancake batter onto the skillet. Before the batter sets, sprinkle about 1 tablespoon of the cinnamon-sugar mixture on top.
Cook until bubbles form on the surface, about 2-3 minutes. Flip and cook for another 2-3 minutes until golden brown.
For the icing, beat together the softened cream cheese, powdered sugar, and enough milk to achieve a drizzleable consistency.
Serve the pancakes warm, drizzled with cream cheese icing. Enjoy!