Start by preheating your waffle iron to its medium-high setting. Lightly grease the plates with non-stick cooking spray or a small amount of melted butter to ensure easy removal.
In a large mixing bowl, combine the flour, brown sugar, baking powder, cinnamon, ginger, cloves, and salt. Use a whisk to blend them thoroughly, ensuring there are no large clumps of brown sugar.
In a separate medium bowl, whisk together the pumpkin puree, milk, eggs, melted butter, and vanilla extract until the mixture is smooth and the eggs are fully incorporated.
Pour the wet ingredients into the bowl with the dry ingredients. Stir gently with a spatula or wooden spoon until just combined. Be careful not to overmix, as a few small lumps in the batter are perfectly fine and help keep the waffles light.
Ladle the appropriate amount of batter onto the hot waffle iron (usually about 1/2 to 3/4 cup depending on the size of your machine). Close the lid and cook until the waffles are golden brown and slightly crisp on the outside. This usually takes about 4 to 5 minutes.
Remove the waffle carefully and repeat the process with the remaining batter. Keep the finished waffles warm in a low oven (200°F) on a wire rack until you are ready to serve.