Whisk the whole wheat flour, sugar, baking powder, and salt in a mixing bowl.
In another bowl, whisk the milk, eggs, oil, and vanilla extract.
Pour the wet ingredients into the bowl of dry ingredients and mix until JUST combined.
Heat a large nonstick skillet over medium heat; wait about 60-90 seconds for it to heat up.
Scoop ¼ cup of batter into the pan. Cook until the edges dry up and bubbles form on the surface, 2 minutes. Flip and cook for another 1-2 minutes until golden and cooked through. If the pan gets too hot, reduce the heat to medium-low.
Serve with your favorite pancake toppings! We love maple syrup and some whipped cream.