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
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