In a mixing bowl, combine melted butter, brown sugar, and ground cinnamon until smooth. Transfer this mixture to a ziplock bag and let it thicken at room temperature for 10-15 minutes, ensuring it's pipeable.

In a large mixing bowl, whisk together flour, baking powder, and salt. Create a well in the center and gently pour in the milk, vegetable oil, and beaten egg. Mix until just combined; it's okay if you see a few lumps.

In a microwave-safe bowl, combine cream cheese and melted butter. Heat gently in the microwave for 20-30 seconds until warm, then whisk until creamy. Gradually blend in powdered sugar and vanilla extract.

Preheat your skillet or griddle over low to medium heat. Pour about ½ cup of pancake batter onto the surface and pipe your cinnamon filling in a swirling motion on top. Cook until small bubbles appear, then flip and cook until golden brown, about 2-3 minutes more.

Layer your Cinnamon Roll Pancakes on a warm plate and drizzle generously with the cream cheese glaze. Garnish with powdered sugar, chopped nuts, or fresh berries if desired.