Mix Dry Ingredients. In a large bowl, whisk together flour, sugar, baking powder, baking soda, and salt.
Mix Wet Ingredients. In another bowl, whisk ricotta, eggs, milk or buttermilk, melted butter, lemon zest, lemon juice, and vanilla until smooth.
Combine. Pour wet ingredients into dry ingredients and stir gently until just combined. The batter will be thick and slightly lumpy, and that is perfect. Do not overmix.
Rest the Batter. Let the batter rest for 5 to 10 minutes. This gives the flour time to hydrate and helps pancakes cook up fluffier.
Cook. Heat a nonstick skillet or griddle over medium to medium low heat. Lightly grease with butter or oil. Scoop 1/4 cup batter per pancake. Cook 2 to 3 minutes until bubbles appear on the surface and the edges look set. Flip and cook 1 to 2 minutes more until golden and cooked through.
Serve. Stack and serve warm with your favorite toppings.