They're in an air-tight bag inside the box, right? I think the freezing is for long term storage. It's a processed grain product like bread or anything else - I imagine they don't NEED to be frozen, but since people typically don't pound through dozens of waffles a week, they are typically frozen for longevity. If there's egg in the mixture, that could be a factor. However I've heard that our refrigeration of eggs is also unnecessary to a large degree.
One day out in still-cold temps, I'd keep them refrigerated and eat them as quickly as was reasonable as a risk compromise. They're probably fine, but best to get through them sooner rather than later.
I mean, they aren't really "cooking" in the toaster, just warming, right?