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In a mixing bowl, whisk together flour, sugar, baking powder, and salt. In another bowl, whisk together milk, eggs, and vanilla extract (if using).
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Add wet ingredients to dry, and whisk until just combined. It's OK if batter is a little lumpy.
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Let the batter rest for 10 minutes.
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Heat a large frying pan or griddle over medium-high heat.
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Lightly grease pan with butter.
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Pour batter by the quarter-cupful on to pan, being careful not to overcrowd if cooking more than one at a time.
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Leave each pancake alone until edges start to turn golden and little bubbles form on top.
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Then, using a spatula, give it a quick, steady flip. (Remember, the first two or three are for the dog.)
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Cook 30-60 seconds more, or until puffed up and golden brown.
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Repeat with remaining batter, adding butter to the pan as necessary.
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Serve pancakes right away, or keep in a warm oven (200 degrees F) until you're ready to eat.
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Top with warm maple syrup and melted butter.