Creating Cinnamon Roll Pancakes is simple when you follow these steps:

1. Prepare the Cinnamon Swirl: In a small bowl, mix the brown sugar and cinnamon together. Stir in the softened butter until combined. Transfer this mixture to a piping bag or a resealable plastic bag with a corner snipped off for easy application.

2. Make the Pancake Batter: In a mixing bowl, combine flour, granulated sugar, baking powder, and salt. In another bowl, whisk together milk, egg, melted butter, and vanilla extract until smooth. Gradually add the wet ingredients to the dry ingredients, stirring until just combined.

3. Heat the Griddle: Preheat a non-stick griddle or frying pan over medium heat. Lightly grease with cooking spray or a small amount of butter.

4. Cook the Pancakes: Pour about ¼ cup of pancake batter onto the griddle. Immediately drizzle some of the cinnamon swirl mixture on top in a spiral pattern.

5. Flip the Pancakes: Cook until bubbles form on the surface, about 2-3 minutes. Carefully flip the pancake and cook for an additional 2-3 minutes, or until golden brown. Repeat with remaining batter.

6. Make the Cream Cheese Icing: In a bowl, combine softened cream cheese, powdered sugar, milk, and vanilla extract. Whisk until smooth and creamy.

7. Serve the Pancakes: Stack the pancakes on a plate and generously drizzle with cream cheese icing.