Gather all ingredients.

Stir milk and vinegar together in a bowl; set aside until milk 'sours', about 5 minutes.

Mix flour, white sugar, baking powder, baking soda, and salt together in a separate bowl.

Whisk egg, 2 tablespoons melted butter, and 1 ½ teaspoons vanilla extract into milk mixture.

Slowly pour milk mixture into flour mixture while whisking constantly until batter is just moistened and evenly mixed.

Combine brown sugar, ¼ cup melted butter, and cinnamon in a small bowl. Pour cinnamon mixture into a resealable bag; refrigerate until filling is thick and spreadable, about 10 minutes.

Mix ¼ cup softened butter and cream cheese together in a microwave-safe bowl; heat in microwave for 40 seconds. Stir until smooth and continue heating until melted. Stir confectioners' sugar and ½ teaspoon vanilla extract until icing is smooth.

Heat a griddle or skillet over medium heat and spray with cooking spray. Pour about ¼ cup batter into the center of griddle. Cook pancake until bubbles start to appear, 2 to 3 minutes.

Cut 1 corner off the center of the bag with filling. Swirl filling over pancake, leaving enough space around edges that filling doesn't touch the griddle.

Flip pancake and cook until other side is lightly browned, 2 to 3 minutes. Drizzle icing over pancake; remove from pan and set aside. Repeat with remaining ingredients.

Wipe the pan/griddle with a clean, damp cloth in between each pancake to remove any excess cinnamon mixture, and spray the griddle with cooking spray between each pancake.

Enjoy!