Place flour in a large bowl. Add a small pinch of salt. Add baking powder. Give everything a gentle stir so the dry mix blends well.
Pour milk into another bowl. Add egg yolks. Add oil. Add vanilla. Add honey or sugar. Stir until smooth. The mix does not need a perfect texture, only steady movement.
Pour the wet mixture into the bowl with the dry mixture. Stir until the batter comes together. Small lumps are normal. Do not over-mix because that can make the waffles tough.
Pour the batter through a strainer into another clean bowl. This step removes lumps of flour or egg. The result should be smooth batter that cooks evenly.
Place egg whites in a clean bowl. Use a hand mixer to whip until the texture turns fluffy and stable. This step brings gentle lift to the waffles.
Use a rubber spatula to fold the whipped whites into the batter. Move the spatula around the bowl in calm motions. A light, airy texture forms during this step.
Warm the waffle maker until steam rises. A hot surface helps the batter gain a crisp edge.
Scoop batter onto the hot surface. Close the waffle maker. Steam rises as the batter cooks. Once no steam flows out, the waffle reaches a crisp, golden state. Lift the lid and remove the waffle gently.
Serve your homemade Joy Of Cooking Waffle Recipe warm with fruit, cream, syrup, or butter. Cool extra waffles on a wire rack so the crisp edge stays strong.