In a bowl, combine crushed graham crackers, brown sugar, ground cinnamon, and melted butter until it resembles wet sand. Press this mixture firmly into lined muffin tins and chill for at least 30 minutes to help it set.

Beat softened cream cheese in a mixing bowl until smooth. Gradually add powdered sugar, ground cinnamon, and vanilla extract, mixing until fully incorporated. In another bowl, whip heavy cream until stiff peaks form, then gently fold it into the cream cheese mixture until well combined.

Spoon the creamy cheesecake filling into the chilled crusts, smoothing the tops with a spatula. Place them back into the refrigerator and chill for at least 4 hours, or overnight for the best flavor and texture.

In a small bowl, whisk powdered sugar, milk, ground cinnamon, and vanilla extract until smooth. Adjust the consistency with more milk if needed to achieve your desired drizzle thickness.

Drizzle the cinnamon icing over the cheesecakes right before serving. Keep them chilled until you're ready to enjoy this delightful treat.