Wash the lemon and wipe dry. Using either a zester or paring knife, remove the zest of the lemon, taking care not to remove any pith. Cut the lemon into half, place a strainer over a bowl and squeeze the juice from the lemon.
Add the lemon juice to milk and whisk together. Set aside.
Sift into a large mixing bowl, flour, baking powder, baking soda sugar and salt. Mix in the sugar and lemon zest.
In a large jug, whisk together the eggs, vanilla extract and melted butter. Mix in the milk mixture.
Make a well in the centre of the flour mixture and pour in the wet mixture gradually. Gently whisk the wet ingredients into the dry ingredients to make a smooth batter. Leave the batter to rest for at least 10 minutes.
Heat a frying pan over medium to low heat. Using a silicone pastry brush, brush the frying pan with oil. Use a paper towel to wipe away any excess oil. Turn the heat to low and add a ¼ cup of batter onto the frying pan. Use the back of a spoon to spread the batter into a round shape.
Cook the pancake for about 2 minutes or until bubbles begin to appear on the surface and the underside of the pancake is golden brown, then flip it over and cook for about another 2 minutes or until golden. Repeat with the remaining batter. Keep the cooked pancakes warm by placing them in a pre-heated oven.