Combine flour, sugar, baking powder, baking soda, and salt in a large bowl, and use a whisk to stir the dry ingredients together.
In a separate bowl combine the milk, melted butter, egg, and vanilla and whisk to combine.
Pour the wet ingredients into the dry ingredients, and stir together. Don't over mix, some small lumps are fine.
Heat a large frying pan or electric griddle over medium heat. Spray with non-stick cooking spray. Use a ½ cup measure to make 4 pancakes. When small bubbles appear on the surface of the pancake, flip it over and cook the other side until golden brown. Serve hot with butter and maple syrup.