Preheat the oven to 350°F (175°C) and line a 12-cup muffin tin with paper liners.
In a large bowl, whisk together the all-purpose flour, granulated sugar, baking powder, baking soda, and salt until well combined.
In a separate medium bowl, whisk together the whole milk, vegetable oil, eggs, lemon zest, fresh lemon juice, and vanilla extract until smooth.
Pour the wet ingredients into the dry ingredients and gently fold together using a spatula until just combined. Do not overmix; some lumps are okay.
Divide the batter evenly among the 12 muffin cups, filling each about two-thirds full.
Bake in the preheated oven for 18 to 20 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Remove the muffins from the oven and allow them to cool in the tin for 5 minutes before transferring to a wire rack to cool completely.