In a mixing bowl, combine flour, sugar, baking powder, and salt.
In another bowl, whisk together the milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients, stirring gently until just combined.
Preheat a non-stick skillet over medium heat.
Lightly grease the skillet with cooking spray or a small amount of butter.
Pour about 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 minutes until golden brown.
Remove pancakes from the skillet and keep warm while cooking the remaining batter.
Serve hot with your choice of toppings.