Preheat a waffle iron to the medium regular setting.
For the waffles: Sift together the flour, granulated sugar, baking powder and salt in a bowl. In a separate bowl, whisk together the milk, vanilla extract and 2 egg yolks. Pour the wet mixture over the dry ingredients and very gently stir until halfway combined. Pour in the melted butter and continue mixing everything very gently until just combined.
In a separate bowl using a whisk (or in a stand mixer with the whisk attachment), beat the 4 egg whites until stiff. Slowly fold them into the batter, stopping short of mixing them all the way through.
Scoop the batter into the waffle iron in batches and cook according to the manufacturer's directions. Lean toward a deep golden brown color and crisp texture.
For the vanilla maple glaze: Combine the powdered sugar, milk, butter, vanilla, maple extract and salt in a medium bowl and whisk to combine.
When all 8 waffles are done, cut each one in half and insert a ice-pop stick in the bottom of the short side to create 16 pops.
For the toppings: Add the cereal to a bowl and toss together. Add the nonpareils to a separate bowl.
Drizzle some of the glaze over each waffle. Decorate half of the pops with the nonpareils and half of the pops with cereal. Serve warm or at room temperature on a platter.