Preheat the oven to 350 degrees Fahrenheit and line a muffin tin with paper muffin cups.
In a mixing bowl, combine the flour, baking soda, baking powder, cocoa powder, and salt. Whisk until well combined.
In a separate mixing bowl, cream the butter and sugar until light and fluffy.
Add the eggs one at a time, mixing well after each addition. Stir in the vanilla extract.
Gradually add the dry ingredients to the wet ingredients, alternating with the milk, and mix until just combined.
Divide the batter evenly among the prepared muffin cups, filling each cup about two-thirds full.
Bake the cupcakes in the preheated oven for 18-20 minutes, or until a toothpick inserted into the center of a cupcake comes out clean.
Remove the cupcakes from the oven and allow them to cool in the muffin tin for 5 minutes before transferring them to a wire rack to cool completely.