Preheat oven to 375°F (190°C) and grease a mini muffin tin.
In a large bowl, whisk together flour, sugar, baking powder, and salt.
In another bowl, mix milk, eggs, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and gently mix until just combined.
Fold in your favorite mix-ins like berries, chocolate chips, banana, or turkey bacon.
Fill each muffin cup about ¾ full with batter.
Bake for 12–15 minutes until golden and a toothpick inserted in the center comes out clean.
Let cool for 5 minutes, then transfer to a wire rack.
Serve the Breakfast Pancake Poppers warm with maple syrup, nut butter, or yogurt.