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Preheat waffle iron.
In large bowl, whisk together flour, sugar, baking powder, and salt.
Add milk, oil (or butter/margarine), and vanilla. Whisk or stir just until combined. Allow batter to rest and thicken for a minute or two.
Lightly spray waffle iron with cooking spray before adding batter.
Cook according to waffle iron instructions (my Belgian waffle iron cooks for about 4 minutes).
Carefully remove waffle. To remove, I pierce the waffle on the outer edge with a fork, and gently lift and pull from the waffle iron.
Serve hot with toppings of choice.