Place flour, baking powder, salt and white sugar in a small bowl and whisk to combine. Set aside.
Pour the milk, egg, and vanilla extract in a mixing bowl and whisk to combine. Gradually pour in the dry ingredients while whisking until the batter comes together.
Take a small portion scoop and add two scoops into the waffle iron and cook for 3 minutes.
Transfer to a plate and serve with cool whip and maple syrup.