Whisk the Wet Ingredients: In a large bowl, add 1 cup Greek yogurt, ½ cup milk, 2 eggs, 2 tablespoons sugar, 3½ tablespoons olive oil, 1 teaspoon vanilla extract, and 1 teaspoon lemon zest. Whisk until smooth and creamy, with no lumps of yogurt.
Sift in the Dry: Place a sieve over the bowl and add 1 cup all-purpose flour, 2 teaspoons baking powder, and ¼ teaspoon salt. Gently mix with a spatula until just combined. Stop as soon as you don’t see dry flour. A few small lumps are okay.
Cook until Golden: Heat your waffle iron and lightly grease it with oil. Pour batter into the center (about ½ cup, depending on your machine). Close the lid without locking it. Cook for 7 to 10 minutes, until golden and crisp.
Keep them Crisp: Place cooked waffles on a wire rack while you finish the rest. Do not stack them, or they will turn soft. If needed, reheat in a toaster or air fryer to make them crisp again.