Sprinkle yeast and sugar over warm milk in a small bowl. Give a quick stir, then let stand for 15 minutes.
Add eggs, softened butter and vanilla to the yeast, sugar and milk mixture, and stir until well combined.
In a separate bowl, combine flour and salt. Pour the liquid mixture into the flour and salt mixture and stir well until just combined and a soft dough forms.
Once dough comes together, cover bowl and place in a warm draft free place until dough has doubled in volume, about 30 minutes. Once dough has risen, gently stir or knead in Belgian Sugar Pearls.
Preheat and prepare waffle iron according to manufacturer's directions.
Divide dough up into approximately 10 equal size pieces, shaped into round or oval shapes. Cook waffles on a waffle iron until lightly browned and crispy, about 2-3 minutes depending on waffle iron. Serve hot.
Notes
Be careful when touching warm waffles, the sugar starts to melt with heat and becomes very hot. Use tongs or utensils to remove waffles from waffle iron and make sure to allow to cool for a few minutes prior to serving. Enjoy!