In a medium bowl, whisk together the flour, baking powder, salt, and sugar.
In another bowl, combine the ricotta cheese, milk, eggs, lemon zest, lemon juice, and vanilla extract. Mix until smooth.
Pour the wet ingredients into the dry ingredients and stir until just combined; do not overmix. The batter may be slightly lumpy.
Heat a non-stick skillet or griddle over medium heat and add a little butter or oil.
Pour about 1/4 cup of batter for each pancake onto the skillet. Cook until bubbles form on the surface, about 3-4 minutes.
Flip and cook for an additional 2-3 minutes until golden brown.
Repeat with the remaining batter, adding more butter or oil as needed.
Serve warm with maple syrup, fresh berries, or a dusting of powdered sugar.