In a medium-sized bowl, whisk together the flour, sugar, baking powder, and salt.
In a separate bowl, mix the milk, egg, melted butter, and vanilla extract.
Gradually pour the wet mixture into the dry ingredients, stirring gently until just combined. The batter should be slightly lumpy—avoid overmixing.
Heat a non-stick skillet over medium heat and lightly grease with butter or cooking spray.
Pour about 1/4 cup of the batter onto the skillet. Cook for 2-3 minutes or until bubbles form on the surface of the pancake. Flip the pancake and cook for another 1-2 minutes, until golden brown.
Repeat with the remaining batter.
Serve with your favorite toppings such as syrup, fresh fruit, or whipped cream.