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, vegetable oil, and vanilla extract.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix.
Heat a non-stick skillet over medium heat. Pour ¼ cup of batter onto the skillet for each pancake.
Cook until bubbles form on the surface of the pancake and the edges look set, about 2-3 minutes. Flip and cook for another 1-2 minutes until golden brown.