In a mixing bowl, blend together the flour, sugar, cinnamon, baking soda, baking powder, and salt.
In a separate small bowl, add the milk and the vinegar. Allow it to sit while preparing the other ingredients; it will begin to thicken like buttermilk.
In a separate bowl, whisk together the applesauce, yogurt, and vanilla; then, whisk in the milk and vinegar.
Gradually pour the wet ingredients into the dry, and stir just until combined.
Spray a large skillet with cooking spray and heat over medium.
Pour batter by 1/4 cup fulls onto the hot skillet. Cook for 2-3 minutes until bubbly. Flip and cook 1 additional minute until cooked through and golden. Continue until all batter has been used.
Drizzle warm pancakes with syrup and serve with banana slices on the side.