In a large mixing bowl, whisk together the flour, sugar, baking powder, baking soda, and salt.
In another bowl, mix the applesauce, milk, egg, vegetable oil, and vanilla extract until well combined.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix.
Heat a non-stick skillet over medium heat. Lightly grease with oil or butter.
Pour ¼ cup of batter onto the skillet for each pancake. Cook until bubbles form on the surface, then flip and cook until golden brown on the other side.