Add the milk to a microwave-safe bowl and heat in the microwave for 1 1/2 to 2 minutes until it is warm, 100 degrees F. If it over heats, let it cool to 110 degrees F before proceeding.
Add the sugar and yeast to the milk and whisk to combine. Let sit until foamy, 3-4 minutes.
Add the flour, baking powder, salt, baking soda, eggs, melted butter and vanilla and mix until just combined and no dry streaks remain. Don't over mix. A few small lumps are ok. Let the batter rest for 5-10 minutes.
Cook the waffles on a preheated waffle iron until golden and crisp. Serve warm with butter, syrup and/or other desired toppings.