In a large bowl, whisk together flour, sugar, baking powder, and salt.
In another bowl, combine milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir until just combined.
Preheat a non-stick skillet over medium heat.
Lightly grease the skillet with butter or oil.
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 2-3 minutes until golden brown.
Remove from skillet and keep warm while cooking the remaining pancakes.
Serve warm with syrup, fruit, or your favorite toppings.