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Preheat waffle iron according to manufacturer's directions
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Sift flour, baking powder, and salt into a bowl
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In a second bowl, whisk together egg yolks and sugar until combined and sugar is dissolved and yolks are a light yellow
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Add vanilla, melted (but not hot) butter, and milk to egg yolk mixture and whisk until combined, careful not to over mix
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Add milk mixture to the flour and whisk until blended - again careful not to over mix
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In a third bowl or using a stand mixer beat the egg whites until soft peaks form 1-2 minutes
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Gently fold egg whites into batter using a rubber spatula
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Brush canola oil on waffle iron plates
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Using a soup ladle or measuring cup, pour batter into bottom waffle plate until grooves are covered and cook according to manufacturer's directions until golden brown
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Keep warm in a 200 degree oven on a wire rack fitted onto a baking sheet