Mix the milk, maple syrup, baking powder, and vanilla together. Then, add the flour and mix until a pancake batter forms.
In a smaller separate bowl, prepare the cinnamon swirl mixture by mixing the cinnamon, softened butter, and sugar together. Spoon the cinnamon swirl mixture into a pastry bag and set aside.
Prepare the cream cheese frosting by mixing the powdered sugar, melted butter, and cream cheese together. Set aside or drizzle with maple syrup as alternative.
Heat a skillet over medium-low heat with a sliver of butter. Once hot, spoon 2-3 tablespoons of pancake batter into the skillet.
Carefully cut the tip of the cinnamon swirl pastry bag and hold it upright. Draw a spiral of the cinnamon sugar mixture in the center of each pancake.
Pour an additional 1-2 tablespoons of pancake batter over the cinnamon filling to cover it.
Cook pancakes until bubbles appear on top, then flip and cook another 1-2 minutes until golden brown.
Serve warm drizzled with cream cheese icing or maple syrup. If icing is too thick, microwave for 15 seconds before drizzling.