In a bowl, combine warm milk with sugar and yeast. Allow to sit for 10 minutes.
In a large bowl, whisk with pumpkin, melted butter, vanilla and eggs together.
Add the remaining ingredients to the pumpkin and whisk together.
Cover with plastic wrap and rise 1 hour or place into fridge overnight.
Preheat waffle iron. Give the batter a stir before using it. Brush the waffle iron with melted butter and the amount of batter according to the waffle iron manufacturer's instructions. Serve with butter and syrup. Makes 3-6 waffles. (My waffle maker takes 1 cup of batter and make 3 waffles)