If you can plan ahead, these are the best waffles by far. There are many variations, but the important thing is using yeast and letting the batter sit overnight.
2 c all purpose flour
1 tsp yeast
1/2 tsp salt
2 c milk
Mix the above ingredients, cover, and let sit overnight on the counter or in the fridge if your kitchen is much over 70 degrees. The next morning stir in:
1 beaten egg
6 TB melted butter
Make waffles according to your waffle iron's instructions. I recommend using the highest temperature setting to get a nice crisp exterior. Unfortunately some waffle irons do not get hot enough to do this.