In a mixing bowl, whisk together the gluten-free 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 mix until just combined. Do not overmix.
Heat a frying pan over medium heat and lightly grease it. Pour ¼ cup of batter for each pancake onto the pan.
Cook until bubbles form on the surface of the pancakes and the edges look set, about 2-3 minutes. Flip and cook for another 1-2 minutes until golden brown.