In a large bowl, whisk together the flour, brown sugar, baking powder, baking soda, spices, and salt.
In another bowl, mix the pumpkin puree, eggs, milk, vegetable oil, and vanilla extract until smooth.
Pour the wet ingredients into the dry ingredients and stir until just combined.
Lightly grease the waffle iron and pour the batter onto the preheated waffle iron. Cook according to the manufacturer's instructions until golden brown.