Into a large bowl, add flour, sugar, baking powder, salt, and combine. 

Add milk, apple cider vinegar, and vanilla to the flour mixture and whisk until the batter is just combined, being careful not to overmix.

Heat a frying pan over medium-high heat and spray with non-stick cooking spray. Ladle ¼ cup of the batter into pan to form pancake. When bubbles begin to set around edges of pancake, after approximately 2 minutes, flip and cook 2 to 3 minutes on the other side. Repeat process with remaining batter and serve immediately.