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, refrigerate until thick and spreadable, about 10 minutes.

Mix ¼ cup softened butter and cream cheese together in a microwave-safe bowl; heat for 40 seconds until melted. Stir in 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 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.

Flip pancake and cook until other side is lightly browned, 2 to 3 minutes. Drizzle icing over pancake; remove from pan.

Repeat with remaining ingredients, wiping the pan/griddle in between each pancake.

Enjoy!