Preheat your waffle iron according to the manufacturer's instructions.
In a large mixing bowl, whisk together the flour, granulated sugar, baking powder, and salt.
In another bowl, beat the eggs. Add the milk, melted butter, and vanilla extract, and mix well.
Pour the wet ingredients into the dry ingredients and stir until just combined. Do not overmix; it's okay if there are a few lumps.
Lightly grease the preheated waffle iron with cooking spray or a little melted butter.
Pour the batter onto the hot waffle iron, using about 1/2 cup for each waffle (or according to the size of your waffle iron). Close the lid and cook until the waffles are golden brown and crisp, usually about 3-5 minutes.
Enjoy your meal!