In a bowl, whisk flour, sugar, baking powder, baking soda, and salt.
In another bowl, mix milk, egg, and melted butter until smooth.
Combine wet and dry ingredients to form pancake batter.
Fold in chopped cinnamon rolls gently.
Heat a non-stick pan over medium heat and grease lightly.
Pour 1/4 cup batter for each pancake and cook 2–3 mins until bubbles form.
Flip pancakes and cook another 2–3 mins until golden.
Mix cream cheese, powdered sugar, and vanilla to make icing.
Drizzle icing over warm pancakes and serve immediately.