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Heat the oven to 350°F. Line a 9x13-inch metal baking pan with parchment paper so the paper hangs over two long sides to form a sling. Coat the paper and pan with cooking spray.
Whisk 1 ¾ cups all-purpose flour, 1 cup granulated sugar, 1 ½ teaspoons baking powder, and 1 teaspoon kosher salt together in a large bowl.
Stir in 1 ¼ cups whole milk, 6 tablespoons melted unsalted butter, and 1 teaspoon vanilla extract with a flexible spatula. Transfer to the baking pan and spread into an even layer.
Bake until the edges are lightly golden-brown, 18 to 22 minutes. Meanwhile, make the topping.
Whisk ½ cup granulated sugar, 6 tablespoons melted unsalted butter, and 1 tablespoon ground cinnamon together in a medium bowl. Let sit to cool and thicken slightly.
When the cake layer is ready, remove the baking pan from the oven. Whisk the topping again, then dollop it over the cake. Spread into an even layer. Return the pan to the oven and bake until the topping is slightly bubbly, about 8 minutes.
Let the bars cool in the pan for 20 minutes. Run a thin knife around the edges to loosen. Grasping the excess parchment, lift the bars out of the pan and place on a wire rack. Let cool completely before cutting into 16 pieces, about 30 minutes.