Preheat the oven to 140°C/275°F/gas mark 1 and place a baking sheet in the oven. To make the waffles, place all of the ingredients into a blender and blitz. Scrape down the sides and blend again until smooth. Set aside for five minutes while you heat up your waffle iron.
Brush both sides of your waffle iron with olive oil. Pour in some batter (the exact amount will depend on your waffle maker and don't do like I did and overfill it!) and cook for about five minutes until the waffles are golden. Carefully remove the waffles from the waffle iron and place them on the baking sheet in the oven to keep warm. Continue making waffles until you have used all of the batter.
To make the peanut butter sauce, place the honey, sugar, vanilla and butter in a small pan. Heat gently until the butter has melted and the sugar has dissolved. Add the peanut butter and stir until smooth then stir in the milk.