Coat muffin pans with nonstick cooking spray; set aside. In a large bowl, combine the flour, baking powder, and salt.
Stir together the milk, canola oil, egg, and sugar substitute. Add to flour mixture and stir until just moistened.
Spoon the batter into prepared muffin pans. Bake in a 400 degree F oven for 20 to 25 minutes or until golden brown. Serve muffins warm. Makes 12 muffins.