1. In a large bowl, whisk together the flour, granulated sugar, baking powder, and salt.

2. In another bowl, combine the milk, eggs, melted butter, and vanilla extract.

3. Pour the wet ingredients into the dry ingredients and stir gently until just combined.

4. In a small bowl, mix the brown sugar, cinnamon, and melted butter until smooth.

5. Transfer the cinnamon mixture into a piping bag or zip-top bag with the corner cut off.

6. Heat a nonstick skillet or griddle over medium heat and lightly grease it.

7. Pour 1/4 cup of pancake batter onto the skillet for each pancake.

8. Once bubbles begin forming on the surface, pipe a cinnamon swirl onto each pancake.

9. Cook until the edges set, then carefully flip and cook until golden brown.

10. In a small bowl, whisk together the powdered sugar, milk, and vanilla extract for the glaze.

11. Stack the warm pancakes and drizzle generously with vanilla glaze before serving.