Preheat your oven to 350°F (175°C). Grease and flour an 8-inch (20 cm) round cake pan.
In a large mixing bowl, sift together the all-purpose flour, granulated sugar, baking soda, and salt.
In a separate bowl, combine the whole milk, vegetable oil, white vinegar, and vanilla extract. Mix well.
Pour the wet ingredients into the dry ingredients. Stir gently with a spatula or wooden spoon until just combined. Do not overmix; the batter should be smooth but slightly lumpy.
Pour the batter into the prepared cake pan and smooth the top with a spatula.
Bake in the preheated oven for 28 to 30 minutes, or until a toothpick inserted into the center of the cake comes out clean.
Remove the cake from the oven and allow it to cool in the pan for 10 minutes.
Turn the cake out onto a wire rack to cool completely before frosting or serving.