Heat the oven to 200°F and heat a waffle iron, preferably a Belgian waffle iron. In a small bowl, combine the flour, sugar, cinnamon, baking powder, baking soda, salt, nutmeg, and cloves. In a large bowl, combine the yogurt, milk, egg yolks, vegetable oil, and vanilla.In a medium bowl, with a wire whisk or electric hand mixer, beat the egg whites to soft peaks.
With a spatula, gently fold the dry ingredients into the yogurt mixture until just combined (the batter should be a little lumpy). Fold the whipped egg whites into the batter until just incorporated.
Brush the waffle iron with a little vegetable oil. Working in batches, cook the batter in the waffle iron according to the manufacturer’s instructions until crisp and golden. Set the waffles directly on the oven rack to keep warm. Do not stack them.
Meanwhile, in a 2-quart saucepan, warm the maple syrup over medium heat. Stir in the pecans and keep warm.
Serve the waffles with the syrup.
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