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Preheat the oven to 350°F with a rack in the center. Line an 8" round pan with a parchment round, then lightly grease the parchment and sides of the pan.
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To make the topping: In a small bowl, combine the brown sugar, butter, and cinnamon. Use a flexible spatula to mix slowly to combine, then mix vigorously until smooth and slightly fluffy. Set aside while you prepare the batter.
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To make the cake: In a medium bowl, whisk the flour, sugar, baking powder, and salt until combined.
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Add the yogurt, melted butter, egg, and vanilla and continue whisking until the batter is mostly smooth; some small lumps are OK.
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Transfer the batter to the prepared pan and spread it into an even layer.
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Dollop heaping teaspoons of the topping all over the top of the batter (a scant teaspoon scoop works well here), then use a toothpick or a butter knife to swirl the topping into the batter in a decorative pattern. If desired, reserve 1 or 2 teaspoons of the topping to swirl into the frosting when finishing the cake.
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Bake the Cinnamon Roll Cake for 30 to 35 minutes, until a toothpick or thin knife inserted into the center of the cake comes out clean.
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Remove the cake from the oven and let it cool in the pan on a wire rack for about 20 minutes. Transfer the cake to a wire rack to continue cooling while you make the frosting.
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To make the frosting: In a medium bowl, combine the confectioners’ sugar and cream cheese. Use a flexible spatula to mix slowly to combine, then vigorously until smooth.
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Gently transfer the cake to a serving plate. Spoon the frosting over the top of the cake (it’s OK if it’s still slightly warm) and use the back of the spoon or a small offset spatula to spread it evenly. To create a swirled look reminiscent of a cinnamon roll, drop small spoonfuls of the reserved topping over the frosting and lightly swirl to incorporate. Serve the cake still slightly warm or at room temperature.
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Storage information: Store leftover Cinnamon Roll Cake, covered, at room temperature for several days; freezing is not recommended.