In a small bowl, mix the milk with vinegar or lemon juice. Let it sit for 5 minutes to create a buttermilk substitute.
In a large bowl, whisk together the flour, sugar, baking powder, baking soda, and salt.
Add the buttermilk mixture, melted butter (or oil), and vanilla extract to the dry ingredients. Stir gently until just combined don’t overmix! A few lumps are okay.
Heat a non-stick pan or griddle over medium heat and lightly grease it.
Pour about ¼ cup of batter onto the pan for each pancake. Cook until bubbles form on the surface and the edges look set (about 2 minutes).
Flip and cook for another 1-2 minutes, until golden brown.
Repeat with the remaining batter, greasing the pan as needed.
Serve warm with maple syrup, fresh fruit, or your favorite toppings!