Heat waffle maker while you begin making the batter.
In a medium bowl, whisk together all liquid ingredients: pumpkin through vanilla.
In a large bowl, whisk together dry ingredients: whole wheat pastry flour through salt.
Slowly add the liquid ingredients to the flour mixture and stir until incorporated, careful not to over-mix.
Spray waffle maker with cooking spray and pour batter in, about 1/2 cup at a time. Cook until lightly golden brown or according to manufacturer's instructions.
Serve with chopped walnuts and more maple syrup if you wish although my kids ate them without any toppings!
Notes
If batter starts to thicken once it sits, simply add more milk and whisk to combine.