Preheat your waffle iron.
In a large bowl, beat the eggs, then mix in the milk, melted butter, pumpkin, and vanilla until smooth.
Add flour, baking powder, sugar, salt, and pumpkin pie spice, stirring until just combined (small lumps are okay).
Spray the waffle iron with nonstick spray, then pour batter onto it, spreading evenly.
Cook until the waffles are crisp and golden brown. Serve with your favorite toppings and enjoy!