Step 1: Activate the Yeast
In a small bowl, dissolve the yeast in the warm milk. Let it sit for about 5 minutes until foamy.

Step 2: Make the Dough
In a large mixing bowl, combine flour, sugar, and salt.
Add the eggs, melted butter, vanilla extract, and the activated yeast mixture.
Mix until a soft dough forms. Knead for about 5 minutes, either by hand or using a dough hook, until smooth and elastic.

Step 3: Let the Dough Rest
Cover the dough with a clean towel and let it rest for 45 minutes to 1 hour, or until slightly puffy.

Step 4: Make the Syrup Filling
While the dough is resting, melt butter in a saucepan over medium heat.
Add brown sugar, honey (or maple syrup), and cinnamon.
Bring to a simmer, stirring constantly until smooth and slightly thickened—about 5–7 minutes.
Remove from heat and stir in vanilla. Set aside to cool slightly (it will thicken as it cools).

Step 5: Divide and Roll the Dough
Once rested, divide the dough into 12 equal portions.
Roll each piece into a ball. Cover them with a towel to keep from drying out.

Step 6: Press and Cook the Wafels
Preheat your stroopwafel iron.
Place one dough ball in the center of the iron and press down to flatten.
Cook for 1½ to 2 minutes until golden brown and cooked through.
Carefully remove and place on a wire rack.

Step 7: Slice the Wafels
While still hot, use a serrated knife to slice the waffle horizontally into two thin halves.
Work quickly—once they cool, they’ll be too crispy to cut without breaking.

Step 8: Spread the Syrup
Spread about 1 to 1½ tablespoons of the warm syrup onto one half of the sliced waffle.
Top with the other half and press gently to seal.

Step 9: Let Them Set
Place the filled stroopwafels on a rack or plate to cool and let the syrup firm up slightly.