Sift flour, milk powder, sugar, yeast, and salt together in a large bowl.
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Combine milk, water, and butter in a small saucepan over low heat. Heat until an instant-read thermometer inserted into the mixture reads 125 degrees F (52 degrees C), about 5 minutes; butter may not melt completely.
Pour milk mixture over flour mixture in the bowl; add eggs and vanilla extract. Mix until batter is thoroughly blended. Cover bowl loosely with plastic wrap. Refrigerate, 8 hours to overnight.
Preheat a waffle iron according to manufacturer's instructions.
Pour 1 cup batter onto the preheated waffle iron; close and cook until the iron stops steaming, about 5 minutes.
401.19 calories; 12.49 g protein; 57.53 g carbohydrates; 1.95 g dietary-fiber; 13.15 g sugars; 13.18 g fat; 7.1 g saturated-fat; 120.45 mg cholesterol; 1171.46 IU vitamin-a-iu; 8.76 mg niacin-equivalents; 0.41 mg vitamin-b6; 8.89 mg vitamin-c; 139.26 mcg folate; 132.22 mg calcium; 4.2 mg iron; 28.6 mg magnesium; 269.7 mg potassium; 525.88 mg sodium; 0.72 mg thiamin; 118.59 calories-from-fat; 57 percent-of-calories-from-carbs; 29 percent-of-calories-from-fat; 12 percent-of-calories-from-protein; 15 percent-of-calories-from-sat-fat