In a large bowl, combine flour, sugar, baking powder, and salt.
In another bowl, whisk together milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients; stir until just combined.
Preheat a non-stick skillet or griddle 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 an additional 1-2 minutes until golden brown.
Remove from skillet and keep warm in a low oven.
Repeat with remaining batter, adjusting heat as necessary.