Whisk the flour, granulated sugar, brown sugar, baking powder, and salt together in a large mixing bowl until well combined.

Combine the milk, peanut butter, egg, and vanilla extract in a separate medium bowl, whisking until the peanut butter is fully incorporated into the liquid.

Pour the wet mixture into the dry ingredients and stir gently with a spatula just until the flour streaks disappear, being careful not to overmix the batter.

Heat a nonstick skillet or griddle over medium heat and lightly coat the surface with cooking spray.

Pour 1/2 cup of batter onto the hot skillet for each pancake and immediately sprinkle a small handful of chocolate chips over the top of the wet batter.

Lower the heat to medium-low and cook until bubbles form on the surface and the edges look set.

Flip the pancake carefully and cook for another minute until the bottom is golden brown and the center is cooked through.

Repeat the process with the remaining batter and serve the pancakes warm with maple syrup.