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Preheat oven to 200C (400F). Place muffin cups in each hole of a 12 muffin baking tin and set aside.
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In a large bowl, mix the flour, baking powder, salt, and caster sugar together and set aside. In a separate bowl, whisk together the melted butter, egg, milk until well combined.
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Make a well in the center of the flour mixture and pour the wet mixture in. Mix until just combine.
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In another bowl, combine the topping ingredients: 3 tbsp of melted butter, cinnamon, brown sugar and walnuts. Gently fold half of the mixture into the muffin batter.
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Spoon the muffin batter, about ¼ cup, into each muffin cup, and top with the remaining nut mixture.
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Bake the muffins in the oven for 12-15 minutes, or until the muffins are golden.
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Remove from oven and allow to cool slightly.
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Whisk together the cream cheese, milk, vanilla and icing sugar until there are no lumps. Drizzle over the top of the muffins once they are cooled slightly. Eat still warm, or keep in a container for a few days.