In a large bowl whisk together the flour, sugar, baking powder, and salt until evenly combined.
In a separate bowl whisk the milk, egg, melted butter, and vanilla until smooth.
Pour the wet ingredients into the dry ingredients and gently stir until just combined; a few small lumps are fine. Do not overmix.
Let the batter rest for about 5 minutes while you heat a nonstick skillet or griddle over medium heat and lightly grease with a bit of vegetable oil or butter.
Pour about 0.25 cup of batter per pancake onto the hot skillet. Cook until bubbles form on the surface and the edges look set, about 2 minutes, then flip and cook another 1 to 2 minutes until golden brown.
Serve warm with butter, maple syrup, fresh fruit, or your favorite toppings.
Notes
Leftovers keep in the refrigerator up to 2 days; reheat in a toaster or skillet for best texture.