Preheat oven to 350°F (175°C) and grease a 9x13-inch baking dish.
In a bowl, mix flour, sugar, baking powder, salt, eggs, milk, vanilla, and melted butter until smooth. Pour into the baking dish.
In another bowl, combine softened butter, brown sugar, flour, and cinnamon to make the topping. Drop spoonfuls over the batter and swirl with a knife.
Bake for 35 minutes or until a toothpick inserted in the center comes out clean.
While baking, whisk together confectioners' sugar, milk, and vanilla to make the glaze.
Once the cake is done, drizzle the glaze over the warm cake.
Let it cool slightly before slicing. Serve warm for the best flavor!
Store leftovers in an airtight container at room temperature for up to 3 days.