1. Let goat cheese stand at room temperature for 30 minutes.
2. Meanwhile, in small bowl toss together dates, pear and orange juice. Set aside.
3. Heat oil in small nonstick skillet over medium-high heat. Stir in onion. Reduce heat to medium. Cook, covered about 1 minute or until onion begins to sweat. Stir in rosemary, pepper and salt. Cook, uncovered, for 4 to 5 minutes or until onion just begins to brown, stirring frequently. Stir in date mixture. Cook and stir until liquid evaporates. Stir in walnuts.
4. Prepare KELLOGG’S EGGO® NUTRI GRAIN® Low Fat Whole Wheat waffles according to package directions until waffles are golden brown. Spread goat cheese on waffles. Spoon date mixture on top. Cut each waffle into 4 wedges. Arrange on serving plate. Serve warm.