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. When a drop of water sizzles on contact, it’s ready.
Scoop the batter (about 1/4 cup per pancake) onto the warm pan, leaving space between each pancake for spreading. Cook until small bubbles form on the surface and the edges look set (the outer 1/2-inch should appear matte, not glossy), 2 to 3 minutes.
Flip once and cook another 1 to 2 minutes, or until both sides are golden brown and the centers are cooked through. Repeat with the remaining batter, greasing the pan and adjusting the heat as needed. (If the pancakes are browning too quickly, lower the heat a notch.)
Serve immediately with butter, warm maple syrup and/or sautéed apples.