Stir together the flour, baking powder, brown sugar, cinnamon, and salt in a large mixing bowl until fully combined.
In a separate bowl combine the milk (or buttermilk), unsweetened applesauce, egg, and vanilla extract. Mix until everything is smooth and the ingredients are incorporated.
Let the batter rest for a few minutes, which helps it thicken a bit and results in fluffier pancakes.
Heat a large skillet or griddle over medium-high heat. If using a griddle, preheat according to manufacturer’s instructions.
Spray the cooking surface lightly with non-stick spray or small amount of butter.
Spoon about 1/4 cup of the batter onto the skillet or griddle. Let bubbles form on the surface, then flip the pancakes carefully. Cook until browned on second side. If the pancakes brown too quickly, lower the heat to promote cooking throughout.)
Serve the pancakes warm, ideally topped with sautéed apples, for a soul-satisfyingly complete breakfast.