Whisk the flour, baking powder and salt together in a medium bowl. In another bowl, beat the milk, eggs, melted butter, honey, and vanilla extract. Pour the milk mixture over the dry mixture and stir with a fork until just combined. Let sit five minutes to “develop” (just a fancy word for letting the baking powder activate).
Meanwhile, heat your waffle iron. Pour, or ladle, enough batter to cover about 2/3 of the surface (the rest will spread once you close the top). Most waffle irons have a handy light that goes on or off, signaling the waffles are ready. A sure sign of doneness is once you see all the steam has stopped shooting out.