So at this point I think I make better waffles than anything coming out of restaurant. After much work I have come to the realization that yeasted waffles are the best waffles and that keeping them in the oven helps them stay warm and crispy. Apart from that, you just need to know your iron. I completely ignore the beeps on my Waring Pro now as if I followed them I would have undercooked soggy waffles.
This recipe makes enough for a waffle-loving couple and I have put in a little malted milk powder for fun.
Adapted from http://www.food.com/amp/recipe/yeasted-waffles-cooks-illustrated-492048
123 g AP flour
28 g malted milk powder
7 oz of milk
1/2 tsp salt
1/2 tsp vanilla
4 tbsp of melted butter or 3 tbsp of oil
3/4 tsp instant yeast
Follow link instructions. I cook for 4 minutes on the 4 setting of my waffle iron and I get about 4 waffles.