Add the yogurt, milk, melted butter, eggs, and vanilla to a medium bowl. Whisk to combine.
Add the flour, sugar, baking powder, and salt. Whisk to combine into a smooth batter.
Heat the waffle iron according to manufacturer's directions. (I do the ⅘ setting on ours.) Grease it with a little nonstick spray.
Add ⅓ cup batter and cook. Serve warm with desired toppings or place onto a baking tray in a 200 degree F oven to stay warm while you finish the batch.
