In a blender, combine the waffle mix, water, brown sugar, cinnamon, and vanilla. Blend until creamy, about 1 minute. Let sit while the waffle iron heats up.

Preheat your waffle iron, spray with cooking spray, and pour in some batter. Cook 8 minutes or according to your waffle iron directions. Continue until all the batter has been cooked.

In a small mixing bowl, combine the powdered sugar, orange zest and 3 tablespoon orange juice. Stir until the mixture is smooth and thick put still pourable. Add more orange juice, if needed.

Drizzle the orange sauce on the waffles.