Whisk together the dry ingredients.
In a separate bowl, whisk together the eggs, brown sugar, pumpkin puree, milk, butter, and vanilla extract.
Add the dry ingredients to the wet ingredients and mix until incorporated.
Scoop batter onto waffle iron that is preheated and has been sprayed with nonstick cooking spray.
Bake until golden.
Place the waffles in a serving dish.
Add one or two scoops of vanilla ice cream with the waffles.
Swirl whipped cream on top of the ice cream.
Drizzle the sundae with caramel syrup.
Top with festive Halloween Sprinkles.