To make the cinnamon roll filling, whisk together brown sugar, melted butter, cinnamon, vanilla extract, and a pinch of salt in a bowl. Transfer the mixture to a pastry bag or a zip-top bag with the corner snipped, seal, and set aside.
⅓ cup brown sugar, 4 tablespoons unsalted butter, ½ tablespoon ground cinnamon, ½ teaspoon vanilla extract, 1 pinch salt
For the glaze, whisk powdered sugar and milk in a small bowl until smooth. Transfer to a pastry bag or zip-top bag, seal, and set aside.
1 cup powdered sugar, 2 tablespoons milk
In a large mixing bowl, combine flour, sugar, baking powder, baking soda, and salt. Make a well in the center, then add milk, eggs, melted butter, and vanilla extract. Stir until just combined, being careful not to overmix. If the batter is too thick, add more milk to reach a pourable consistency.
2 cups all-purpose flour, ¼ cup sugar, 2 teaspoons baking powder, 1 teaspoon baking soda, 1 teaspoon salt, 2 eggs, 4 tablespoons unsalted butter, ½ tablespoon vanilla extract, 2 cups milk
Heat a nonstick skillet or griddle over low heat and lightly grease it with cooking spray or butter. Pour ¼ to ⅓ cup of batter onto the skillet and cook for 3 to 4 minutes, until the edges look set and bubbles form on the surface.
Cut a small corner off the cinnamon filling bag and pipe a spiral onto each pancake, starting in the center and working outward. Allow the swirl to set for a few seconds before flipping. Cook for another 2 to 3 minutes, until golden brown.
Drizzle the glaze over warm pancakes before serving, and for extra flavor, sprinkle with cinnamon or drizzle with honey. Serve immediately.
Honey, Cinnamon