Heat a large skillet over medium heat, or heat an electric griddle to 350°F.
Combine the flour, sugar, baking powder, baking soda, and salt in a medium bowl. Whisk to combine.
Whisk together the orange juice, milk, egg, oil, 2 teaspoons vanilla extract, and orange zest in a small bowl or measuring cup.
Stir the wet ingredients into the dry ingredients until combined. Batter may be a bit lumpy.
Spray the cooking surface with nonstick cooking spray. Pour 1/4 cupfuls of batter for each pancake. Let each pancake cook until it's bubbly on top the flip and cook until golden. Repeat with remaining batter until all pancakes are made.
While the pancakes are cooking, heat the maple syrup in a small saucepan over low heat until just warmed. Remove from heat and stir in 2 teaspoons vanilla extract.
Serve warm pancakes with warm syrup on top.
Remaining pancakes can be stored in an airtight container for up to 3 days in the refrigerator or frozen for up to one month. Store any remaining syrup in an airtight container or jar.