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

In another bowl, whisk together the milk, melted butter, egg, and vanilla extract.

Pour the wet ingredients into the dry ingredients and mix until just combined. Do not overmix.

Heat a non-stick skillet or griddle over medium-low heat and lightly grease with vegetable oil.

Using a 1/4 cup measuring cup, pour the pancake batter onto the skillet.

Cook until bubbles form on the surface of the pancake, then flip and cook for another 1-2 minutes, until golden brown.

Repeat with the remaining batter.

Serve the pancakes warm with maple syrup, fruit, or your favorite toppings.