In a large bowl, whisk together the flour, cinnamon, baking powder and brown sugar.
In a separate medium bowl, whisk together the milk, applesauce, egg, vegetable oil and vanilla extract.
Add the wet ingredients to the dry ingredients and mix just until combined. (The batter should be lumpy.)
Place a nonstick pan or griddle over medium-low heat. Drop dollops of the batter onto the hot pan. Once bubbles form, flip the pancakes once and continue cooking 1 to 2 more minutes until the pancakes are cooked throughout. Serve immediately with maple syrup or other toppings.