Preheat the oven to 375°F and line a baking sheet with parchment paper.
Cook the sausage links in a skillet over medium heat until browned. Set aside.
In a bowl, whisk together pancake mix, milk, egg, melted butter, and vanilla extract until smooth.
Dip each cooked sausage link into the batter, coating evenly.
Place the coated sausages on the baking sheet and bake for 12-15 minutes until golden brown.
Serve warm with maple syrup for dipping.