I think the main trick for this project is to use a brown Tulip Fabric Marker to outline the waffle squares. It really gives the design dimension, not to mention a realistic, toasted waffle look.
|Waffle without Tulip Fabric Marker Detail|
|Waffle with Tulip Fabric Marker Detail|
I wrote a tutorial and pattern for the waffles and the whipped cream dollop. You can get it for only $3.50 here. It has photos, instructions and pattern pieces, making the waffles a snap to make.