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Preheat oven to 350°F (175°C). Grease a 9×13-inch baking dish.
In a large bowl, combine flour, sugar, baking powder, and salt.
Add milk, eggs, vanilla extract, and melted butter. Mix until smooth.
Pour the batter into the baking dish and smooth it out evenly.
In a separate bowl, combine the brown sugar, cinnamon, flour, and melted butter.
Drop the cinnamon mixture over the batter in spoonfuls. Swirl gently using a knife.
Bake for 30 to 35 minutes, or until a toothpick inserted into the center comes out clean and crumb-free.
Make the glaze by whisking together powdered sugar, milk, and vanilla extract until smooth.
Drizzle glaze over warm cake. Let it cool slightly before slicing and serving.