Coconut, almond and soy milk can be made from scratch (with scratch being either coconut or dried soybeans) with home-grade equipment. Methods and equipment needed are well documented and out of scope here.
Alternatively, cashew-based cream substitute can be easily made (just blend boiled cashews thoroughly, adding only as much water as needed to keep the blender happy) - this is close enough to cream that it can be churned into ice cream, and a traditional indian ingredient too (eg as a thickener in kormas and "shahi" style dishes) - although this might end up just too rich and stodgy in a pancake.
Mind that while some "natural flavours" containing products are not vegan, some are - best check the brands offered closely, they might have statements available on their website or be able to tell you upon a phone call or email.
In the unlikely case there is no trustworthy (by your standards) soy milk but soy yoghurt available, diluting such should give a viable milk substitute for that purpose (diluted yoghurts are not uncommon as a buttermilk substitute, and buttermilk is a well established pancake ingredient).
Also, be aware that asian grocers will usually carry unadulterated (by label) coconut milk, and often also soymilk and/or soymilk powder.
Also, mind that legume flour based pancakes are part of some culinary traditions, and usually these recipes do not contain milk or milk substitutes. North Indian Besan Ka Cheela is a tasty example for a savory pancake of that style, the recipe can be adapted to a sweet pancake readily.