Preheat the oven to 375 degrees F. Line a 12-cup muffin pan with muffin liners and grease with cooking spray.
Combine the milk with the lemon juice in a small bowl and allow to rest for 5-10 minutes.
Meanwhile, whisk together the flour, sugar, baking powder, baking soda, and salt in a large bowl.
Whisk together the oil, lemon zest, and vanilla extract in a medium bowl, then whisk in the milk and lemon juice mixture.
Pour the wet ingredients into the bowl with the dry ingredients and stir just until combined, then fold in the blueberries.
Divide the batter among the 12 prepared muffin cups. Bake for 25-30 minutes, or until the tops are golden and a toothpick inserted in the center comes out clean with a few moist crumbs.
Allow the muffins to cool for a few minutes in the pan before removing them, then enjoy!