In a small bowl, mix the melted butter, brown sugar, and cinnamon until smooth to create the swirl filling. Transfer to a squeeze bottle or zip bag and set aside.
In a large bowl, whisk together flour, baking powder, baking soda, sugar, salt, and cinnamon.
In another bowl, whisk the buttermilk, eggs, melted butter, and vanilla until well combined.
Pour the wet ingredients into the dry ingredients and stir gently until just combined. Let the batter rest for 5 minutes.
Heat a lightly greased skillet or griddle over medium heat.
Pour about 1/4 cup of batter onto the hot pan for each pancake.
Pipe a spiral of cinnamon filling on top of each pancake.
Cook until bubbles form, then flip carefully and cook until golden and caramelized.
For the glaze, beat cream cheese until smooth. Add powdered sugar and vanilla, then whisk in milk until pourable.
Stack the warm Cinnamon Roll Pancakes and drizzle with the cream cheese glaze before serving.