In a small bowl, combine warm milk, yeast, and 1 teaspoon of the granulated sugar. Let sit for 5-10 minutes, until foamy.
1 cup milk, 2 1/4 teaspoons active dry yeast, 1/3 cup granulated sugar
In a large bowl, mix flour, sugar, salt, and vanilla extract. Add the yeast mixture and eggs, then knead until smooth.
1/3 cup granulated sugar, 4 cups all-purpose flour, 1 teaspoon pure vanilla extract, 1/2 teaspoon fine sea salt, 2 large eggs
Gradually add the softened butter, a bit at a time, while kneading. The dough will be sticky at first but will become smooth and elastic as you continue to knead.
14 tablespoons unsalted butter
Cover and let the dough rise in a warm place for 1-2 hours, or until it doubles in size.
Divide the dough into equal portions. Press each into the pearl sugar, then knead slightly into a loose ball. Let rest 15 minutes.
1 cup pearl sugar
Preheat the waffle iron. Lightly spray the grates with nonstick spray. Cook each dough ball until golden brown and caramelized, about 3–5 minutes per waffle. Let cool on a wire rack while you make the rest of the waffles.
To make the chocolate sauce, whisk together cocoa powder, granulated sugar, and milk in a saucepan. Add the butter and heat over medium high, stirring until smooth and thick but pourable.
1 cup cocoa powder, ½ cup granulated sugar, ½ cup milk, 4 tablespoons unsalted butter