Dissolve the yeast in the warm milk with a pinch of sugar. Let it sit for 5 minutes until it becomes frothy.

In a large mixing bowl, combine the flour, granulated sugar, cinnamon, cardamom (reserve a pinch for filling), ginger, cloves, and melted butter. Add the egg and the yeast mixture.

Knead the mixture until a smooth, pliable dough forms. Cover the bowl with a clean cloth and let it rest for 45 minutes in a warm place.

While the dough rests, prepare the filling. In a saucepan over medium heat, combine the brown sugar, 1/2 cup butter, corn syrup, and the remaining pinch of cardamom.

Stir continuously until the sugar dissolves and the mixture begins to bubble. Let it simmer gently until it reaches the soft ball stage (approx 235°F / 112°C). Remove from heat, stir in vanilla, and keep warm.

Preheat your stroopwafel iron or pizelle press.

Divide the dough into 1.5-inch balls (about the size of a golf ball).

Place a dough ball in the center of the hot iron and press down firmly. Cook for 60 to 90 seconds until the waffle is golden brown.

Remove the waffle and immediately use a round cookie cutter to trim off any rough edges while it is still hot and pliable.

Working quickly while the waffle is hot, carefully slice it horizontally into two thin discs using a sharp knife.

Spread a generous tablespoon of the warm caramel filling onto the cut side of one disc and sandwich it with the other half.

Repeat with the remaining dough and filling. Allow the stroopwafels to cool so the caramel sets slightly before serving.