In a medium bowl, whisk flour, sugar, baking powder, baking soda, and salt.
In a separate bowl, whisk Greek yogurt, eggs, milk, melted butter, orange zest, orange juice, and vanilla until smooth.
Pour the wet mixture into the dry ingredients. Stir gently until just combined. Stop when you see a few small lumps—overmixing makes pancakes tough.
Let the batter rest for 5 minutes.
If it seems too thick, add 1–2 tablespoons more milk until it’s thick but pourable.
Heat a nonstick skillet or griddle over medium heat. Lightly grease with butter or oil.
Pour 1/4 cup batter per pancake. Cook until bubbles form on top and edges look set, 2–3 minutes.
Flip and cook 1–2 minutes more until golden and cooked through.
Adjust heat if they brown too fast.
Serve warm with maple syrup, a drizzle of honey and extra zest, or fresh berries.