In a mixing bowl, combine 1 cup of milk, 2 tablespoons of maple syrup, 1 tablespoon of baking powder, and 1 teaspoon of vanilla extract. Whisk until smooth, then gradually add 1 cup of flour, mixing until small air bubbles form.

In another bowl, mix together 1/4 cup of softened butter, 2 tablespoons of cinnamon, and 1/4 cup of brown sugar until creamy. Transfer to a pastry bag.

Heat a greased skillet over medium-low heat. Spoon 2-3 tablespoons of batter, then squeeze the cinnamon filling in a swirl pattern and add another spoonful of batter on top.

Cook until bubbles form and edges appear set, about 1-2 minutes, then flip and cook until golden brown, another 1-2 minutes.

In a small bowl, mix together 1 cup of powdered sugar, 2 tablespoons of melted butter, and 4 ounces of softened cream cheese until smooth. If too thick, microwave briefly.

Stack pancakes on a plate, drizzle with icing and serve warm, adding extra maple syrup or fresh fruit if desired.