In a mixing bowl, combine flour, sugar, baking powder, baking soda, and salt.
In another bowl, whisk together milk, egg, and melted butter. Pour into dry ingredients and mix until just combined.
In a small bowl, mix together melted butter, brown sugar, and cinnamon for the filling. Transfer to a piping bag or ziplock bag with a small corner cut off.
Heat a skillet over medium heat and grease lightly. Pour ¼ cup of batter onto the skillet. Pipe a swirl of the cinnamon filling onto the pancake.
Cook until bubbles form on the surface, then flip and cook until golden brown. Repeat with remaining batter and filling.
For the glaze, beat together cream cheese and butter until smooth. Add powdered sugar and vanilla extract, and mix until combined. Drizzle over warm pancakes.