Make the pancake batter. Whisk together the flour, baking powder, baking soda, pumpkin pie spice, cinnamon, and salt in a large bowl. In a separate bowl, whisk the eggs, Greek yogurt, sugar or maple syrup, pumpkin puree, vanilla, and milk until smooth. Add the wet ingredients to the dry ingredients and stir gently until just combined. Let the batter rest for five minutes. If it is too thick, add milk one tablespoon at a time.
Prepare the cinnamon swirl. Mix the softened butter, sugar, cinnamon, and two tablespoons of pancake batter in a small bowl until a thick paste forms. Transfer to a piping bag or zip-top bag and snip a small corner. Refrigerate for five to ten minutes if the mixture is too runny.
Cook the pancakes. Heat a nonstick skillet or griddle over medium-low heat and lightly grease with butter. Pour about ¼ cup of batter per pancake onto the griddle. Pipe a small cinnamon spiral over each pancake, leaving space around the edges. Cook for two to three minutes, until bubbles appear and the edges look set. Flip carefully and cook for another one to two minutes, or until cooked through. Adjust the heat as needed to prevent the cinnamon sugar from burning. Repeat with the remaining batter.
Make the glaze. Whisk the Greek yogurt, softened cream cheese, maple syrup, vanilla, and cinnamon until smooth. If needed, soften the cream cheese in the microwave in five-second intervals, stirring between each. Add milk or water one teaspoon at a time until the glaze is thin enough to drizzle.
Serve. Stack the warm pancakes and drizzle with the cinnamon yogurt glaze. Serve immediately.