Preheat the oven to 425°F and grease a 9x13-inch baking pan.
In a small bowl, whisk together the melted butter, brown sugar, ground cinnamon, and flour for the cinnamon swirl mixture. Set aside to thicken slightly while you prepare the pancake batter.
In a medium bowl, combine the flour, baking powder, baking soda, salt, and pumpkin pie spice.
In a separate large bowl, whisk together the eggs, melted butter, and pumpkin puree until smooth. Add the milk, maple syrup, and vanilla extract and whisk until fully combined.
Add the dry ingredients to the wet ingredients and mix until just combined.
Pour the batter into the prepared baking dish and spread it into an even layer. Transfer the cinnamon swirl mixture to a piping bag or small zip-top bag with the corner snipped off. Pipe swirls all over the top of the pumpkin pancake batter.
Bake for 12 to 13 minutes, or until the center is set and the top is lightly golden. For the optional glaze, whisk together the softened cream cheese, powdered sugar, and milk until smooth. Spread or drizzle the glaze over the warm pumpkin cinnamon roll pancakes, then slice into squares and serve.