Whisk together the flour, baking powder, sugar, and salt in a mixing bowl.
In another bowl, combine the milk, egg, melted butter, and vanilla extract, and whisk them together.
Pour the liquid mixture into the dry mixture and gently stir until they are just blended. Be careful not to overmix; a few lumps are okay.
Preheat a griddle or a non-stick skillet over medium-high heat and lightly coat it with butter or cooking spray.
Pour 1/4 cup of the pancake batter onto the griddle for each pancake. Cook until bubbles appear on the surface, then flip and continue cooking until both sides turn golden brown.
Serve the pancakes hot, garnished with your favorite toppings.