Preheat your waffle iron according to the manufacturer's instructions.
In a large mixing bowl, whisk together the flour, sugar, baking powder, and salt until well combined.
In another bowl, beat the eggs, then add the milk, vegetable oil (or melted butter), and vanilla extract. Mix until well blended.
Pour the wet ingredients into the dry ingredients. Stir gently until just combined. Be careful not to overmix; it’s okay if a few lumps remain.
Lightly grease the preheated waffle iron with cooking spray or a small amount of oil.
Pour the appropriate amount of batter onto the waffle iron (usually about 1 cup, but refer to your iron’s instructions). Close the lid and cook according to the manufacturer's directions, usually about 5 minutes, until golden brown.
Carefully remove the waffle and place it on a cooling rack to prevent sogginess. Repeat with the remaining batter in batches.
Serve warm with your choice of toppings like syrup, fruit, or whipped cream.