In a mixing bowl, whisk together the flour, sugar, baking powder, and salt.
In another bowl, combine the milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir until just combined.
Gently fold in the crumbled bacon.
Preheat your oven to 350°F and grease a mini muffin tin with cooking spray or butter.
Fill each muffin cup about 2/3 full with the pancake batter.
Bake for 10-12 minutes or until the tops are golden brown and a toothpick inserted in the center comes out clean.
Once baked, remove the pancake poppers from the oven and let them cool for a few minutes before transferring them to a wire rack.
Drizzle with maple syrup before serving.