Dissolve yeast in half of the warm milk with a teaspoon of the sugar. Stand for 10-15 minutes to activate

Place flour, salt, butter, remaining sugar, vanilla extract and eggs into a bowl of an electric mixer. Using the dough hook, beat until mixture looks crumbly

Add warm milk and mix a little more to incorporate

Add activated yeast mixture and mix until dough doesn't stick to the sides of the bowl. Cover with a clean cloth and rest for 10 minutes

Add pearl sugar and gently knead through until evenly distributed

Let the dough rest for 1 hour and the cut it into 80g balls

Select BELGIAN waffle setting and select 4 on the browning control dial

Preheat until orange light flashes up and the word HEATING disappears

Place a ball of dough into each waffle square and close lid to cook. Repeat with remaining dough

Serve with generous lashings of whipped butter or cream and maple syrup