In a large bowl, whisk together the flour, baking powder, sugar, and salt.
In a separate bowl, whisk together the milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir gently until just combined. Do not overmix; a few lumps are perfectly fine.
Heat a lightly greased skillet or griddle over medium heat.
Pour about ¼ cup of batter onto the hot surface for each pancake.
Cook until bubbles form on the surface and the edges begin to set.
Flip and cook for another 1–2 minutes until golden brown and cooked through.
Transfer to a plate and repeat with the remaining batter.
Serve warm with butter, maple syrup, or your favorite toppings.