In a large bowl, whisk the flour, sugar, baking powder, and salt together.
In another bowl, whisk the milk, egg, oil and vanilla extract together.
Pour the wet ingredients into the dry ingredients and whisk until JUST combined (the batter will be lumpy!). Stir in the sprinkles.
Heat a nonstick pan over medium heat. Scoop ¼ cup of batter into the pan and cook for 2 minutes until the edges dry up and bubbles form on top. Flip and cook for another 1-2 minutes until golden brown.
To make the icing, combine the icing sugar, milk, and vanilla extract in a small bowl and whisk until smooth.