You can make your own alcohol free vanilla flavoring - I won't call it extract since it doesn't use alcohol. It's really easy to make.
16 fl. oz. food grade vegetable based glycerin
6 fl. oz. hot water
2 oz. vanilla beans
Mix glycerin and hot water in glass jar with lid. Split beans, remove seeds, cut beans into small pieces, add beans and seeds to glycerin water mix. Put lid on jar, close tightly, and shake well. Shake daily for one week, then every few days...