Preheat the Waffle Maker.
In a large mixing bowl, flour, brown sugar, baking powder, salt, cinnamon, nutmeg, ginger, and cloves together.
In another bowl, whisk together the pumpkin puree, milk, eggs, melted butter, and vanilla extract. Pour the wet ingredients into the dry ingredients and stir until just combined. Let the batter rest for a few minutes.
Next, lightly grease the waffle iron with cooking spray or a small amount of melted butter. Pour the batter onto the hot waffle iron, be sure to use the recommended amount for your waffle iron. Close the lid and cook until the waffles are golden brown and crisp.
After cooking, remove the waffles from the iron and serve them warm with your favorite toppings. Enjoy!