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