In a large bowl, whisk together the gluten free flour blend, sugar, baking powder, xanthan gum and salt.
Add the milk, yoghurt, oil, eggs and vanilla, and whisk well until you get a smooth batter with no flour clumps. It should have the consistency of American-style pancake batter. If it's slightly too thick, you can add about 15g (1 tablespoon) of extra milk to loosen it up.
Rest the batter on your counter for 10 minutes while you preheat the waffle maker.
Cooking the waffles:
Preheat your waffle maker. I usually set mine on the maximum heat setting, but you may need to adjust the settings on yours until you find the best one – as different waffle makers/waffle irons behave differently.
If you're using a non-stick waffle maker, you don't need to grease it, as there's plenty of fat in the waffle batter already. Otherwise, you can lightly brush it with oil or melted butter, or spray it with cooking spray.
Add the waffle batter to the hot waffle maker. The exact amount will depend on the size of your waffle maker – mine makes quite large waffles (about 6¾ inches/17cm in diameter), and I use about ⅔-¾ cup of batter per each waffle. If your waffle maker is smaller, you’ll need less batter. You may need to experiment a bit until you find the optimal amount.
If in doubt, it's best to use slightly less batter rather than too much, as you don't want it to leak out the sides!
Cook until the waffle is golden brown and crispy. The exact cooking time will depend on your waffle maker, mine takes about 5 minutes when set to the maximum heat setting.
Transfer the cooked waffle to a wire rack and repeat with the rest of the batter. The exact number of waffles will depend on the size of your waffle maker and how large you're making your waffles, I made 4 large (6¾-inch/17cm) ones.