Combine dry ingredients in a mixing bowl. Add milk, yogurt, and vanilla extract. Whisk until traces of flour are no longer seen, taking care not to over mix the batter.
Heat oil or vegan buttery spread in a non-stick pan over medium heat. Scoop ~1/4 cup of batter onto the pan and cook for ~2 min on each side. The pancake is ready to flip when the bottom is golden and the edges look dry.
Toss pears in cinnamon and maple syrup. Serve over pancakes with a dollop of yogurt and a sprinkle of chopped walnuts.