In a bowl, mix together the dry ingredients - flour, baking powder and baking soda until well combined.
In another bowl, mix well the yogurt and sugar and when the sugar is dissolved, add the whole milk, vanilla extract and oil also to the bowl and mix everything until the ingredients are well blended.
Transfer the wet ingredients mixture to the dry flour mixture and mix until the ingredients are combined, you may use a balloon whisk to mix the batter without forming any lumps.
Transfer spoonful of pancake muffin batter to the mini muffin molds and bake for 22 to 24 minutes or until the muffins are lightly browned on the outside and a toothpick inserted at the center of a muffin comes out clean. If you are using regular muffin pan instead of mini muffin pan, you will have to bake for few more minutes, so always make sure to use a toothpick to determine if the inside of the muffins are cooked. Serve the delicious pancake muffins warm for snack or you can save it for next day morning breakfast.