In a large bowl, whisk together the flour, sugar, baking powder, and salt until well combined.
In another bowl, mix the yogurt, milk, egg, melted butter, and vanilla extract until smooth.
Pour the wet ingredients into the dry ingredients and stir gently until just combined. Be careful not to overmix; a few lumps are okay.
Preheat a non-stick skillet or griddle over medium heat. Lightly grease with cooking spray or a little butter.
Pour about 1/4 cup of batter onto the skillet for each pancake. Cook until bubbles form on the surface, about 2-3 minutes.
Flip the pancakes and cook for another 1-2 minutes until golden brown and cooked through.
Remove from the skillet and keep warm while you repeat with the remaining batter.