Whisk together the milk and vinegar in a medium bowl. Set aside for 10 minutes.
In a large bowl, whisk together the dry ingredients - sugar, flour, baking powder, baking soda and salt.
Add the eggs, melted butter and vanilla to the bowl with the milk and vinegar. Whisk to combine.
Add the flour mixture to the milk mixture and whisk to combine.
Spray nonstick cooking spray into a large skillet over medium heat. Pour ¼ cup of batter into the pan to create pancakes that are about 5” wide. Once the pancake begins to bubble (about 2 to 3 minutes), flip and cook for 2 to 3 minutes on the other side. The pancakes should be cooked to golden brown on both sides.
White Vinegar: You can substitute lemon juice instead of the vinegar, if desired.