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Special equipment: a waffle iron
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Heat the milk in a medium saucepan until just warm (about 110 degrees F).
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Sprinkle the yeast over the milk, and let it sit until dissolved, about 5 minutes.
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Pour the mixture into a large bowl, and stir in the butter, 1/2 cup of the sugar, egg yolks, 1 tablespoon of the vanilla and the salt.
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Fold in the flour (it's OK if there are a few lumps).
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Cover and set aside in a warm place until the mixture is bubbly and rises by about half its original volume, 1 to 2 hours.
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(The batter can be made a day ahead and refrigerated after it rises.)
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Once the batter is ready, preheat the waffle iron and preheat the oven to 250 degrees F. Whip the egg whites and the remaining 1 tablespoon sugar with an electric mixer to soft peaks in a medium bowl.
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Fold the whites and sprinkles into the batter.
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Brush the top and bottom of the preheated waffle iron with butter, and pour the batter into each compartment (this varies from 1/4 to 1/2 cup, depending on the size of your waffle maker).
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Cook until the waffles are golden brown and crisp; remove them to a plate, and transfer to the oven to keep warm.
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Repeat with the remaining batter.
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Meanwhile, warm the maple syrup in a small saucepan over medium-low heat.
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Remove the saucepan from the heat, and stir in the remaining 1 tablespoon vanilla.
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Set aside and keep warm.
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To serve, stack 2 waffles on a serving dish, drizzle with some of the maple-vanilla syrup and top with a dollop of whipped cream.
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Serve the remaining syrup on the side.
