In a medium mixing bowl, whisk together the flour, baking powder, salt, and sugar.
In a separate mixing bowl, whisk together the milk, egg, vanilla extract, and melted butter.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix the batter.
Heat a nonstick skillet or griddle over medium-high heat. Use a ladle or measuring cup to pour about 1/4 cup of batter onto the skillet for each pancake.
Cook the pancakes for 1-2 minutes on each side, or until they are golden brown and cooked through.
Serve the pancakes warm with your favorite toppings.