In a bowl, beat together the milk, eggs, and vanilla extract.
Slowly add melted butter while whisking. Set aside.
Stir remaining ingredients together in a large bowl.
Pour wet ingredients into the dry and mix until all flour is just incorporated.
Heat waffle iron according to the manufacturer's instructions.
Pour waffle batter in the waffles iron using the amount that is recommended for your appliance.
Cook waffles for 2-5 minutes, times will vary depending on the waffle iron.
Waffles are ready when they are golden brown and cooked through.
Serve with maple syrup or your favorite toppings.