Set a baking sheet on an oven rack and preheat to 200 degrees F.
Blend the almond milk, soy yogurt, cornstarch, sugar, cinnamon and vanilla in a blender until combined. Transfer to a casserole dish or glass pie plate.
Heat a large nonstick skillet over medium heat. Add 1 tablespoon of the oil, swirling the skillet to coat the surface. Place 3 slices of bread in the milk-yogurt mixture, let soak for about 1 minute per side, then carefully lay the slices in the skillet. Cook, undisturbed, until browned and crisp, 2 to 4 minutes per side (adjust the heat as needed). Serve immediately or transfer to the rack in the oven to keep warm. Repeat with the remaining oil, bread and milk-soy mixture. Serve with maple syrup.
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