In a large mixing bowl, whisk together the flour, sugar, baking powder, baking soda, and salt.
In a separate bowl, mix together the yogurt, milk, egg, and vanilla extract until well combined.
Pour the wet ingredients into the dry ingredients and gently stir until just combined. Do not overmix, as this can result in tough pancakes.
Heat a non-stick skillet or griddle over medium heat. Lightly coat the surface with cooking spray or butter.
Once the pan is hot, pour about 1/4 cup of batter onto the skillet for each pancake. Cook until bubbles begin to form on the surface, then flip and cook for another 1-2 minutes, until golden brown.
Repeat with the remaining batter, adding more cooking spray or butter as needed.
Serve the mini yogurt pancakes warm with your favorite toppings such as fresh fruit, maple syrup, honey, or yogurt.