This does require some prep work the night before but the results are well worth it.  The original recipe can be found at crispywaffle.com which is perhaps the most apt description of a web page.  Ever.

2c all purpose flour
1 1/2t instant yeast
8T melted butter
2c warm milk
2 eggs, room temperature
2t vanilla extract
1T sugar
1/2t salt

Whisk together dry ingredients. Whisk together liquid ingredients.  Combine and whisk dry and wet ingredient until well mixed.  Cover with Saran wrap and refrigerate overnight.

Preheat waffle iron to desired setting and spray with nonstick cook spray.  Give the batter a quick stir and add to the waffle iron.