In addition to his work on Star Trek, Waller also guest-starred between 1988 and 1989 on six episodes of the fantasy series Beauty and the Beast as the character Geoffrey. Beside leading actor Ron Perlman, he also worked with Trek alumni Joseph Campanella, Anne Haney, Tony Jay, Armin Shimerman, Ellen Geer, Daniel Benzali, Gregory J. Barnett, Tony Epper, Janet Lee Orcutt, and Edward Albert.