Preheat your waffle iron according to the manufacturer’s instructions.
In a mixing bowl, mash the ripe bananas until smooth.
Add eggs, milk, vegetable oil, and vanilla extract to the mashed bananas. Mix well.
In another bowl, combine flour, sugar, baking powder, and salt.
Gradually add the dry ingredients to the wet mixture, stirring until just combined.
Lightly grease the waffle iron with cooking spray.
Pour the appropriate amount of batter onto the preheated waffle iron.
Close the lid and cook until waffles are golden brown and crispy.
Carefully remove the waffles and repeat with the remaining batter.
Serve warm with your favorite toppings.