Vegetable and Canola oil can both be used interchangeably in recipes. Canola oil is actually a type of vegetable oil extracted from the canola plant specifically. Both oils have a neutral flavor and really only differ in the types and amounts of fat in each oil.
When baking you can also generally use Coconut Oil if preferred. It will offer a nice coconut flavor and a little added sweetness to the recipe. If you do choose to use coconut oil you just need to be sure to melt the oil first.