In a large bowl, whisk together flour, sugar, baking powder, and salt.
In another bowl, mix milk, egg, melted butter, and vanilla extract until well combined.
Pour the wet ingredients into the dry ingredients.
Stir gently until just combined; some lumps are okay.
Preheat a non-stick skillet over medium heat.
Lightly grease the skillet with butter or cooking spray.
Pour 1/4 cup of batter onto the skillet for each pancake.
Cook until bubbles form on the surface (about 2-3 minutes).
Flip the pancakes and cook for another 1-2 minutes until golden brown.
Serve immediately with your favorite toppings.