Overnight Belgian Waffles

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1/2 cup warm water (110 to 115 degrees F)

1 package (1/4 ounce) active dry yeast, at room temperature 

2 teaspoons sugar 

2 cups lukewarm whole milk (90 to 100 degrees F) 

1/4 pound (1 stick) unsalted butter, melted, plus extra for the waffle iron 

2 tablespoons honey 

1 teaspoon pure vanilla extract 

1 1/4 teaspoons kosher salt 

2 cups all-purpose flour 

2 extra-large eggs 

1/4 teaspoon baking soda 

1/2 cup maple syrup for serving