Preheat the oven to 350 degrees. Line a muffin tin with paper liners.

In a large bowl, combine the flour, baking powder, baking soda, and salt. Set aside.

Using a handheld mixed, beat the sugar, eggs, and vanilla on high speed until frothy, pale, and creamy, 2-3 minutes. Add the balsamic and milk and continue to beat for 1 minute. Switch off the mixer and slowly drizzle in the olive oil.

Use a wooden spoon or a spatula to gently fold it into the flour mixture until just combined. Fill the muffin cups three-quarters full.

Bake for 20 minutes, or until a toothpick inserted in the center of a million comes out clean.