Not Waffles

I have tried so many times to make waffles on my own.  It has never quite worked out.  I have a theory that it's a combination of not knowing what I'm doing and having a hard to use waffle iron.  Here's the recipe I used this time (based off this one with some modifications from the comments):

• 1 egg substitute
• 1 cup flour (a dash of whole wheat, the rest white)
• a little less than 1 cup milk
• 1/8 cup vegetable oil
• 1 1/2 tsp white sugar
• 2 tsp baking powder
• a dash of salt
• 1/2 tsp vanilla
• a healthy dash of cinnamon

After the last time I tried to make waffles (and spent roughly an hour and a half later trying to get burnt on pieces off the waffle plates, which don't come out of the iron so I have to clean them in place), I decided to use a ridiculous amount of cooking spray on the waffle iron, reapplying between every waffle.  It did succeed in keeping little burnt bits from getting stuck in it, but didn't manage to cause the waffles to come off cleanly, and resulted in me getting cooking spray all over the stuff within a one-foot radius of the waffle iron.  I think the waffle iron is meant to make really thin (but adorably animal shaped) waffles, and I always put too much batter in, so that when I open up the iron, one half of the waffle sticks to one side and the other half to the other side, and each side then peels off and bends because it isn't thick enough to support itself.  I'm not sure how to remedy this; suggestions are very welcome.  The batter itself wasn't bad, but wasn't anything spectacular.  I'll probably try a different recipe again next time.