We present an ESPRIT-based algorithm that yields extended-aperture two-dimensional (2D) arrival angle and carrier frequency estimates with a sparse uniform array of electromagnetic vector sensors. The ESPRIT-based frequency estimates are first achieved by using the temporal invariance structure out of the two time-delayed sets of data collected from vector sensor array. Each incident source’s coarse direction of arrival (DOA) estimation is then obtained through the Poynting vector estimates (using a vector crossproduct estimator). The frequency and coarse angle estimate results are used jointly to disambiguate the cyclic phase ambiguities in ESPRIT’s eigenvalues when the intervector sensor spacing exceeds a half wavelength. Monte Carlo simulation results verified the effectiveness of the proposed method.