In a large mixing bowl, whisk the eggs, milk, yogurt, vanilla, and butter until smooth.
In a separate bowl, combine the flour, baking powder, sugar, and salt. Add the dry ingredients to the wet ingredients and mix until the batter is smooth and there are no clumps- do not over-mix. Fold in the sprinkles.
Lightly grease a preheated waffle maker with cooking spray. Pour enough batter to fill the bottom plates.
Close and cook the waffle according to the manufacturer’s directions or until the waffles are golden brown.
Remove the waffle from the waffle iron and repeat with the remaining batter.