In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, and salt until well combined.
In another bowl, beat the eggs and then add the milk, melted butter, and vanilla extract. Mix until smooth.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix; a few lumps are okay.
In a small bowl, mix the ground cinnamon and brown sugar together to create the cinnamon swirl mixture.
Preheat a non-stick skillet or griddle over medium heat. Lightly grease with cooking spray or butter.
Pour about 1/4 cup of pancake batter onto the skillet. Immediately sprinkle about 1 teaspoon of the cinnamon-sugar mixture on top of the batter.
Using a toothpick or a knife, swirl the cinnamon-sugar mixture into the pancake batter gently.
Cook until bubbles form on the surface of the pancake, about 2-3 minutes. Flip and cook for an additional 2-3 minutes until golden brown.
Repeat with the remaining batter and cinnamon-sugar mixture.
In a small bowl, mix the softened cream cheese, powdered sugar, and enough milk to reach your desired icing consistency. Drizzle over warm pancakes before serving.