In a mixing bowl, whisk together the whole wheat flour, sugar, baking powder, baking soda, and salt.
In another bowl, whisk together the milk, egg, melted butter, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix.
Heat a griddle or skillet over medium heat and lightly grease it. Pour ¼ cup of batter for each pancake onto the griddle.
Cook until bubbles form on the surface of the pancakes and the edges look set, about 2-3 minutes. Flip and cook until golden brown, another 1-2 minutes.