Heat waffle iron according to the manufacturer's instructions.

In a large mixing bowl, whisk together the canned pumpkin puree, egg, milk, butter, pumpkin pie spice and vanilla extract until well combined.

Add the pancake mix to the wet ingredients and gently stir until the mixture comes together. Be careful not to overmix the pancake batter; a few lumps are okay.

Lightly grease the preheated waffle iron with non-stick cooking spray or melted butter to prevent the waffles from sticking.

Pour batter onto the center of the waffle iron, close the lid, and cook according to your waffle maker's instructions. Generally, waffles take about 2-4 minutes to cook to a golden brown, but this depends on the size of your waffle iron.

Carefully remove the cooked pumpkin waffles from the iron and place them on a plate or cooling rack. Keep them warm until you're ready to serve.

Garnish your homemade waffles with your favorite toppings, such as whipped cream, maple syrup, chopped nuts, or a sprinkle of powdered sugar.