Mix the Dry Ingredients; In a large mixing bowl, whisk together the all-purpose flour, granulated sugar, baking powder, salt, and ground cinnamon until evenly combined.
Combine the wet ingredients; In a separate bowl, whisk together the milk, egg, melted butter, and vanilla extract until smooth and well combined.
Make the Pancake Batter; Pour the wet ingredients into the dry ingredients. Gently stir until just combined. Do not overmix the batter; a few small lumps are perfectly fine.
Heat the Skillet; Place a nonstick skillet or griddle over medium heat. Lightly grease it with a little butter and allow the pan to heat evenly.
Cook the Pancakes; Pour some pancake batter onto the hot skillet to form a pancake. Cook until bubbles begin to appear on the surface and the edges look set.
Flip the Pancakes; Carefully flip the pancake using a spatula. Cook the other side until golden brown and cooked through. Repeat with the remaining batter.
Make the Cinnamon Sugar; In a small bowl, combine the granulated sugar and ground cinnamon. Stir until the cinnamon is evenly distributed throughout the sugar.
Coat the Pancakes; While the pancakes are still warm, lightly brush them with melted butter. Gently coat each pancake with the cinnamon-sugar mixture.
Stack and Serve: Stack the churro pancakes on a serving plate. Drizzle with maple syrup and add whipped cream, fresh berries, or your favorite toppings if desired. Serve warm.