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

In a second bowl, beat together the milk, egg, melted butter, and vanilla extract until smooth.

Pour the wet mixture into the dry ingredients. Stir gently until the flour disappears; the batter should be thick and slightly lumpy.

Heat a pan over medium heat and brush lightly with oil or butter.

Ladle batter onto the pan. Cook until bubbles form on the surface and edges look set, then flip and cook until golden brown.

Repeat with the remaining batter, greasing the pan as needed.

Stack pancakes while warm and serve immediately with your favorite toppings.