In a large bowl, mix canned pumpkin, sugar, eggs, vegetable oil, salt, pumpkin pie spice, cinnamon, and vanilla extract until fully combined.

Add gluten-free flour and baking powder, mixing until fully combined.

Add milk (or dairy-free milk) and mix until the batter is thick.

Preheat the waffle iron and spray with gluten-free cooking spray before each waffle.

Scoop batter onto the waffle iron and cook according to the manufacturer's instructions.

Serve warm and enjoy!