Place warm milk in a large bowl. Whisk in yeast. Let sit about 5 minutes.
Stir in flour, butter, eggs, salt, and vanilla into yeast and milk until well combined. Cover bowl and let rise until dough is about double in size, about 30-60 minutes.
When dough is about double in size, mix in pearl sugar.
Lightly grease your waffle maker then preheat according to manufacturer directions.
Divide dough into balls about 2-4 ounce each. Place dough in batches in your waffle maker. Bake waffles for about 3-5 minutes or until golden brown and crispy. Top with your favorite waffle toppings.
SNAPPY TIPS: Be careful that your waffle maker is not too hot or the sugar may burn. You may need to experiment a little with your particular waffle maker. These waffles freeze great and can be reheated in the oven.
SNAPPY SUBSTITUTIONS: Do not substitute other types of sugar for the pearl sugar because you will not get the same results. Instead of vanilla, you could try other types of flavored extracts such as almond.
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