In a large mixing bowl, stir together the milk, oil, maple syrup, and vanilla.
Whisk in the 2 eggs.
Add the flour, baking powder, cinnamon, and salt. Stir until just combined, a few lumps are okay!
Stir in the mini chocolate chips, then set the batter aside to rest for about 5 minutes.
Meanwhile, preheat your waffle iron. Once preheated, spray with nonstick cooking spray and pour the batter onto the waffle iron. Cook according to your waffle iron's instructions. (Mine was about ½ cup of batter per waffle well and set to 4 minutes of cook time).