Preheat your waffle iron. Start by preheating your waffle iron so it’s hot and ready when your batter is mixed.
Prepare the wet ingredients. In a large mixing bowl, whisk together the pumpkin puree, eggs, melted butter, milk, and vanilla extract until smooth.
Combine the dry ingredients. In a separate bowl, mix the flour, baking powder, brown sugar, and pumpkin pie spice. Stir until evenly combined.
Mix the batter. Gradually add the dry ingredients into the wet ingredients. Stir until just combined, being careful not to overmix. Fold in the chopped pecans.
Cook the waffles. Lightly grease your preheated waffle iron with cooking spray or butter. Pour the batter into the waffle iron and cook according to the manufacturer’s instructions (usually 3-5 minutes) until the waffles are golden and crispy.
Serve. Transfer the waffles to a plate and serve warm with your favorite toppings like maple syrup, whipped cream, or extra pecans!