In a medium bowl, sift together all-purpose flour, baking powder, salt, and sugar until uniform.

In a separate bowl, whisk together milk, melted butter, egg, and vanilla extract until smooth.

Pour the wet ingredients into the dry mixture and gently stir until just combined. Let the batter rest for 5 minutes.

Preheat a griddle or large skillet over medium heat and lightly spray with cooking spray.

Pour 1/4 cup measuring tool of batter onto the hot skillet. Cook until bubbles form on the surface.

Carefully flip each pancake and cook until golden brown, stacking them on a warm plate.

Serve immediately with your favorite toppings or allow leftovers to cool and freeze for later.