These must be some impurity. This reaction really is simple and yields a white product, not some dark brown crap.
Vinegar usually is not only acetic acid in water, but it can also contain salt, sugars, and spices. But if it is colorless, then it should not contain too much of those impurities.
What is the source of your sodium bicarbonate? Did you buy the pure chemical, or did you buy baking powder from a supermarket? The latter is impure sodium bicarbonate and contains a lot of other organic stuff. If you have pure sodium bicarbonate, then the powder must be snow-white (and not off-white with a light yellowish tint) and when it is added to water, it must dissolve without any turbidity. Also, when added to acid, it must fizz a lot and dissolve without leaving any turbidity.