In a large bowl preferably with a pour spout, whisk the flour, baking powder, baking soda, salt, and cinnamon together. Set aside.

In another large bowl, whisk the yogurt, milk, maple syrup, eggs, and vanilla together until combined. Whisk in the oil. Pour the wet ingredients into the dry ingredients and gently whisk to combine. Make sure there are no patches of dry flour at the bottom of the bowl. The batter is thick and a few lumps are fine.

Let the batter sit for 5 minutes as you heat the stove in the next step. This gives the batter a chance to thicken.

Meanwhile, heat a griddle or large skillet over medium heat. Coat generously with butter or nonstick cooking spray. Once it’s hot, drop/pour a heaping 1/4 cup of batter on the griddle. Cook until the edges look set and you notice holes in the pancake’s surface around the border, about 2 minutes. Flip and cook the other side until cooked through, about 1–2 more minutes. Coat griddle/skillet with butter or nonstick spray again, if needed, for each batch of pancakes.

Keep pancakes warm in a preheated 200°F (93°C) oven until all pancakes are cooked. Serve pancakes immediately with toppings of choice.

Cover and store leftover pancakes in the refrigerator for up to 5 days.