In a large mixing bowl combine the butter, sugar, egg, milk and yeast and beat until smooth.
Add the flour and salt and knead together until a firm dough forms.
Cover the dough with a cloth and let it rise for 1 hour in a warm place.
Place the dough on a floured surface and knead again for 1-2 minutes.
Roll into 8-10 balls approximately 2 inches in diameter and place on a baking sheet.
Cover with a damp cloth and let rise for another 15 minutes.
Making the Syrup
Combine syrup, brown sugar, butter and cinnamon in a small saucepan.
Heat and stir until smooth and well combined.
Keep on the stove on low, or remove from heat.
Spray your Pizzelle maker with non-stick cooking spray
Place a ball in the middle of your maker and close.
Let the dough cook for approximately 1 minute or until lightly golden brown.
As soon as you remove it from the heat, use a sharp knife and slice it in half horizontally.
Spoon a tablespoon or so of syrup onto one half of the Stroopwafel and place the otherhalf on top.
If you want to make your Stroopwafels into perfect circles, as soon as they come off the iron, you can cut them using a circular cookie cutter. Be sure to do this quickly and then continue to cut them as they need to be warm when you do so.