Mix together all the dry ingredients in a large bowl (including lemon zest). In a separate bowl, mix together the wet ingredients.
Add the wet ingredients to the dry ingredients and stir until just combined.
Grease the waffle iron with cooking spray and cook according to manufacturer instructions. I use about 1/2 cup batter per waffle and they cook for 5-6 minutes.
Serve with maple syrup.
Little Helpers: The kids can measure and mix together most of the ingredients.Freeze It: Make a double batch and put some away in the freezer. I put single servings of 2 waffles into a zip top bag. To reheat, thaw in the microwave for 20-30 seconds and then put them in the toast oven to crisp up.