In a large bowl, whisk together flour, baking powder, salt, and sugar.
In another bowl, mix milk, egg, oil, and vanilla.
Gradually combine the wet ingredients with the dry ingredients until smooth.
Heat a non-stick skillet over medium heat and lightly grease it.
Pour 1/4 cup of batter onto the skillet for each pancake.
Cook until bubbles form on the surface, then flip and cook until golden brown.
Serve warm with your favorite toppings.