In a large bowl, whisk together the flour, baking powder, sugar, and salt until combined.

In another bowl, mix the milk, egg, melted butter, and vanilla extract until smooth.

Pour the wet mixture into the dry ingredients and gently fold until just combined; lumps are fine.

Preheat a non-stick skillet over medium heat and lightly grease if desired.

Pour about 1/4 cup of batter onto the skillet for each pancake. Cook until bubbles form on top (about 2 minutes), then flip and cook until golden brown.

Serve warm with your favorite toppings.