Heat cast-iron skillet on medium-high heat. Depending on your skillet, you can cook your pancakes with a little bit of water in the pan the same way you'd use butter or oil, or you can opt for a small spray of oil. It's always preferred to use water and omit the oil.
In medium bowl, whisk flour, baking powder and cinnamon together.
Slowly whisk in soy milk mixture and vanilla until smooth. Don't overmix.
Use 1/4 size measuring cup to pour batter into skillet. Cook until firm on one side, then flip, adding more water to the pan if needed. Cook until both sides are firm and the center is cooked. Serve warm.