Stir the dairy free milk and apple cider vinegar together. Let the mixture sit for about 5 minutes.
Sift the gluten free flour, baking powder, sugar, and salt. Set aside. Whisk the applesauce, egg, and vanilla extract together. Add the vinegar mixture and dry ingredients. Stir until combined.
Pour about 1 cup of batter onto a hot waffle iron. Cook for about 3-5 minutes, or until golden brown and crispy.