Mix the yeast, water, and granulated sugar in a bowl and set aside to activate, about 5-10 minutes.
While the yeast is bubbling away, place the flour, brown sugar, and salt in large mixing bowl.
Add the yeast mixture to the flour and mix at medium speed until well blended. Add the eggs, melted butter, and vanilla and mix well. The batter will be thicker and stickier than regular waffle batter.
Put the dough aside to rise until it has doubled in size, about 50 minutes. It will be even thicker and stickier than before.
Gently fold in the pearl sugar and allow the dough to rest once more while you wait for the Hamilton Beach Removable Grid Belgian Waffle Maker to heat. Place the waffle maker on power setting 1.
Using a ¼ cup measuring cup that has been sprayed with non-stick spray along with a small spatula that’s also been sprayed with non-stick spray, scoop the dough into the waffle iron and bake until golden brown with slick sugar spots on the outside, about 4-7 minutes. Check for doneness at the 4 minute mark, and if they weren’t done to your liking, check again at each 1 minute after that.
Allow to cool a bit before eating. Serve hot or at room temperature.