Mix flour, sugar, baking powder, and salt in a bowl.
In another bowl, whisk milk, egg, and melted butter.
Combine wet and dry ingredients until just mixed.
For the cinnamon swirl, mix melted butter, brown sugar, and cinnamon in a small bowl.
Pour pancake batter onto a hot griddle, then swirl in the cinnamon mixture.
Cook until bubbles form, then flip and cook until golden brown.
For the glaze, mix cream cheese, powdered sugar, vanilla, and milk until smooth.
Drizzle glaze over pancakes before serving.