Preheat your waffle iron, selecting a higher or darker heat setting for enhanced crispness, if available.
In a large bowl, combine the flour, sugar, baking powder, and salt, whisking to distribute evenly.
In a separate, medium-sized bowl, whisk together the milk, melted butter, eggs, and vanilla extract until homogenous.
Pour the wet ingredients into the bowl with the dry mixture and stir gently until the batter just comes together; do not over-mix.
Lightly grease the heated waffle iron with butter or a non-stick spray. Spoon approximately ⅓ cup of batter onto the iron per waffle, adjusting as needed depending on the size of your appliance.
Cook each waffle until the exterior is golden and crisp. Transfer the cooked waffles to a wire rack to preserve texture until serving.
Serve immediately with toppings of your choice such as maple syrup and butter.