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Start warming your waffle iron. Set aside.
In a small bowl, whisk together the flour, cinnamon, nutmeg, allspice, baking powder, and salt. Set aside.
In a medium size bowl, whisk together the milk, yogurt, eggs, brown sugar, and vanilla extract until smooth.
Pour the dry ingredients into the wet ingredients and gently fold until just combined. Add the shredded carrots and nuts and fold again until everything is incorporated.
Lightly spray waffle iron with non-stick spray3, then pour ½ to ¾ cup of batter4 evenly into the waffle iron. Cook waffle according to waffle iron instructions.
Remove waffle from waffle iron using two forks or a large flat spatula, add desired toppings5 (I suggest homemade whipped cream or cream cheese frosting) and serve warm. Store leftovers in the refrigerator, up to 3 days. Warm in the microwave or toast in a toaster oven. Waffles freeze well, up to 3 months. Thaw in refrigerator overnight then warm as desired.