In a medium bowl, whisk together the flour, baking powder, and salt. Whisk in the milk, egg, vanilla extract, and oil, until incorporated.
Heat skillet over medium heat, and spray it with nonstick spray.
Using a ⅛-¼ size measuring cup, pour batter onto skillet. Spread the batter out more if necessary, to about 4-inch diameters.
Reduce the heat to medium-low.
When your pancake begins to form bubbles around the edges, pipe the filling. Starting at the center of the pancake, squeeze the filling on top of the pancake batter in a swirl, just as you see in a regular cinnamon roll.
Cook the pancake 2 to 3 minutes, or until the bubbles begin popping on top of the pancake and it's golden brown on the bottom.
Gently but quickly flip over pancake. Cook an additional 2 to 3 minutes (with temperature still on medium low), until the other side is golden as well.
Wipe out the pan with a paper towel, and repeat with the remaining pancake batter and cinnamon filling.
Serve pancakes topped with a drizzle of glaze.