In a large mixing bowl, whisk together the flour, sugar, baking powder, baking soda, and salt.
In a separate bowl, whisk together the ricotta cheese, eggs, milk, lemon juice, lemon zest, and vanilla extract until smooth.
Add the wet ingredients to the dry ingredients and stir until just combined. Do not overmix.
Heat a non-stick skillet or griddle over medium heat. Add a small amount of butter or oil to the pan.
Using a 1/4 cup measuring cup, scoop the batter onto the skillet. Cook until bubbles form on the surface of the pancake and the edges start to look set, about 2-3 minutes.
Flip the pancake and cook for an additional 1-2 minutes, until golden brown.
Repeat with the remaining batter, adding more butter or oil to the pan as needed.
Serve the pancakes warm with your favorite toppings, such as fresh berries, whipped cream, or maple syrup. Enjoy!