In a small bowl, combine the warm water, yeast, and sugar. Stir to dissolve and let sit for 10 minutes until the mixture is foamy and bubbly.
In a large bowl, whisk together the salt, butter, flour, eggs, evaporated milk, and vanilla extract until well combined.
Add the yeast mixture to the flour mixture and stir until combined. The dough should be soft and slightly sticky.
Cover the bowl with a clean kitchen towel and let the dough rest for 2 hours in a warm place.
Heat a waffle iron to medium-high heat. Grease the waffle iron with butter or non-stick cooking spray. Working in batches, scoop about 1/2 cup of the dough onto the waffle iron and spread it out to cover the surface. Close the lid and cook for 2-3 minutes until the waffles are golden brown and cooked through.
Transfer the waffles to a plate and cover with a kitchen towel to keep warm. Repeat with the remaining dough.
Serve the waffles warm with your favorite toppings.
Interesting Facts
Yeast-raised waffles are a classic breakfast recipe in Belgium and the Netherlands.
Yeast-raised waffles are a great make-ahead breakfast option as the dough can be made ahead of time and stored in the refrigerator.
Adding yeast to the waffle batter makes the waffles extra light and fluffy.