Heat milk in the microwave until lukewarm but not hot. Add the yeast in, and then add 1 ½ tbsp sugar. Let stand until foamy, about 10 minutes.
In a separate bowl (or the bowl of a stand mixer) combine remaining 2.5 tbsp sugar with flour and salt.
Use your fingers to make a well in the middle and pour in the yeast mixture. Mix with an electric hand mixer (or stand mixer) lightly until combined... Dough will be crumbly and dry.
Add an egg into the dough and mix for about 30 seconds. Then add the next egg and beat for about 30 seconds Finally, add the last egg and beat for about 30 seconds.
Add the vanilla and the butter, and mix with an electric mixer until fully combined, and the dough has lightened and got a bit fluffy (about 2 minutes). The dough will seem too buttery, but it’s alright!
Spray a separate bowl (preferably glass) with nonstick spray and transfer the dough. Cover the bowl with aluminum foil or a dish towel and leave to rise for 2-2.5 hours or until it doubles in size.
When the dough is done rising, punch it down and knead in the Belgian Pearl Sugar (you can also use a wooden spoon). Allow dough to rest for 15 minutes before cooking it.
Heat a waffle iron up to 350 degrees. Cook each waffle for about five minutes or until browned to your liking. Top with peanut butter, Nutella, fruit, whipped cream, or crumbled cookies. Or enjoy your liege waffle plain (that way is my favorite!)