In a large bowl, mix warm milk with sugar and yeast. Stir and set aside to proof, 10 minutes. Once yeast has started to bubble and foam, stir in pumpkin, melted butter, vanilla and eggs with a hand mixer*. Stir in remaining ingredients. Scrape sides and mix again briefly. Cover with plastic wrap and rise 1 hour. At this point, cook waffles or place into fridge overnight.