Step 1: Make the Dough

1. In a large bowl, dissolve the yeast in warm milk and let sit for 5 minutes.

2. Stir in the sugar, melted butter, egg, cinnamon, and salt.

3. Gradually add flour, mixing until a soft, slightly sticky dough forms.

4. Knead by hand or mixer for 5–6 minutes until smooth and elastic.

5. Cover and let the dough rise in a warm spot for 45–60 minutes, until nearly doubled in size.

Step 2: Make the Caramel Filling

1. In a small saucepan over medium heat, combine brown sugar, corn syrup, butter, and salt.

2. Stir continuously until the mixture comes to a gentle boil.

3. Reduce heat and simmer for 5–7 minutes, stirring often, until thickened slightly.

4. Remove from heat and stir in cinnamon and vanilla extract.

5. Let cool slightly—it should be warm and spreadable.

Step 3: Divide and Shape the Dough

1. Punch down the dough and divide it into 12 equal balls.

2. Keep the dough covered to prevent drying out.

3. Preheat your stroopwafel or pizzelle iron according to the manufacturer’s instructions.

Step 4: Cook the Waffles

1. Place one dough ball onto the preheated iron and close gently.

2. Cook for 1½ to 2 minutes, or until golden brown and cooked through.

3. Carefully remove and place on a cutting board.

4. While still hot and soft, use a sharp knife to slice the waffle horizontally into two thin layers.

5. If needed, trim edges with a round cutter to create perfect circles.

Step 5: Add the Caramel Filling

1. Spread a generous tablespoon of warm caramel onto the inside of one half.

2. Quickly sandwich with the other half and press gently to seal.

3. Place on a cooling rack and allow to set.

4. Repeat with remaining dough and caramel.