Preheat oven to 350°F and line 2 muffin tins with cupcake liners and set aside.
In the bowl, whisk flour, sugar, cocoa, baking powder, baking soda, and salt to combine.
In a large measuring cup or bowl combine the milk, oil, eggs, and vanilla. Whisk to combine.
Slowly pour the liquid ingredients into the dry ingredient, while mixing.
Fill cupcake liners about 2/3 of the way full.
Bake for about 18 minutes or until a toothpick inserted into the center comes out clean.
Remove cupcakes from oven and allow to cool before frosting with your favorite frosting!