Preheat a waffle maker according to its instructions.
For the sausage: cook in a 400°F oven to an internal temperature of 160°F using a thermometer.
Add the ginger, pear, water, and granulated sugar to a saucepan over medium heat. Bring to a low simmer until the liquid evaporates by about 2/3. Then set aside.
In a bowl, whisk together the flour, baking powder, cinnamon, brown sugar, and salt. Stir in the pear/ginger mixture. Slowly add the milk a little at a time until a smooth thick batter forms; use milk as needed (more or less).
Pour the batter into the waffle maker and cook according to the waffle maker instructions.
In the meantime, in a bowl, whisk the powdered sugar, and milk together until smooth then set aside.
Drizzle the icing topping over the waffle and top with walnuts, serve with sausage, and grapes.