Combine yeast, lukewarm milk and two table spoons of sugar into a bowl and let it sit for about 5 minutes, until bubbles appear.
Combine the flour, reminder of sugar and salt in a separate bowl and make a well in the center. Pour the bubbly yeast mixture into the well and mix until combined. Into the mixture, add eggs, one at a time.
Add melted butter and vanilla extract to the dough. The dough will turn out sticky. Let the dough sit for about an hour in a warm place or until it doubles in volume.
Heat the waffle iron to a medium. Place a spoonful of the dough in the middle of a waffle iron and flatten it slightly.