In a mixing bowl, whisk together the flour, sugar, baking powder, and salt.
In another bowl, mix the milk, egg yolks, and vanilla extract.
Combine the wet and dry ingredients, mixing until just combined.
In a separate bowl, beat the egg whites until stiff peaks form.
Gently fold the egg whites into the batter, being careful not to deflate them.
Heat a non-stick skillet over low heat and lightly grease with vegetable oil.
Spoon the batter into the skillet, cover with a lid, and cook until bubbles form on the surface and the edges are set, about 4-5 minutes.
Carefully flip the pancakes and cook for another 2-3 minutes, until golden brown and cooked through.
Serve immediately with your favorite toppings.