In a mixing bowl, whisk together the flour, sugar, baking powder, baking soda, and salt until well combined.
In another bowl, mix the milk, egg, melted butter, and vanilla extract. Pour the wet ingredients into the dry ingredients and stir gently until just combined; do not overmix.
Preheat a non-stick skillet or griddle over medium heat. Lightly grease with a small amount of butter or cooking spray.
Pour small amounts of the pancake batter (about 2-3 tablespoons each) onto the skillet to form small pancakes. Cook until bubbles form on the surface, about 2-3 minutes. Flip and cook for an additional 2 minutes until golden brown.
Once cooked, remove the pancakes and repeat with the remaining batter. You should have around 8-12 small pancakes.
Assemble the skewers by alternating between a pancake, a strawberry half, and a banana slice. Repeat until you fill the skewer, leaving space on the ends for handling.
Serve the pancake skewers warm with maple syrup drizzled on top or on the side for dipping.