Here is what I found in "The Genealogy of the Waldo Family" by Waldo Lincoln:
"Samuel,son of Shubael (Edward, John, Cornelius), and Abigail (Allen) Waldo; born Sept. 18, 1731, at Norwich, Conn., bapt. Sept. 26, 1731, at Windham, Conn.; died Sept. 10, 1793, at South Dover, N. Y.Nov. 27, 1754, his father conveyed to him thirty-eight and a half acres of land in Mansfield, Conn., evidently a marriage gift, which was sold, Oct. 16, 1758 by Samuel Waldo of Bateman's Precinct, Dutchess Co., N.Y., now Dover, to his brother Jesse.He became a Baptist clergyman and was chosen pastor of the South Dover or First Baptist Church of Dover, Jan.4, 1758, and was ordained May 25, 1758, by Elders Marsh and Willard."To thisman, perhaps more than to any other, belongs the credit of stimulating the people of the Baptist persuasion then ilving in this section (Dover Plains) to organize a church.""It is related of Elder Waldo that on one occasion he went to the store, where he saw some coffee beans--an article then but little known.The Elder inquired what they were, and concluded to try a quart or so.He took them home, put the whole quantity into a pot, and proceeded to cook them as one would field beans; but after boiling several hours he found they were as hard as ever.Finally, his patience became exhausted and he took them back to the store in disgust, saying that they were worthless--he could never boil them soft."During the Revolution it is said that he carried all the milk produced by several cows to Washington's troops, encamped for the night nearby, together with other provisions, distributed the articles among the soldiers, told them where he lived and invited them to come to his house and get whatever they wanted to eat.Many of them did and disturbed nothing.
His gravestone at South Dover bears the following inscription:
"Samuel Waldo, Died Sept. 10, 1793, aged 62 years.
A dying preacher I have been
To dying hearers such as you
Tho' dead, a preacher still I am
To such as come my grave to view
Let this to you a warning be
That you must quickly follow me."
He married Nov. 21, 1754, probably at Mansfield, Hannah, daughter of Samuel Waters of New Fairfield, Conn., of whom nothing has been learned.
Children of Samuel and Hannah (Waters) Waldo.Born, a, b, at New Fairfield, Conn., probably; c-k at South Dover, N. Y.:
bdaa a.Eunice, born June 28, 1756; died July 9, 1846.
She married a Mr. Babcock.
bdaa b.Martha, born Jan. 30, 1758; died June, 1760.
bdaa c.Rachel, born Aug. 25, 1759; died Dec. 24, 1849.
"She lived ninety years, three months and twenty-
three days and was a member of the Baptist church
seventy-five years.She lived with her husband
Uncle Dutcher fifty-five years."Nothing has been
learned of Mr. Dutcher.
bdaa d.Deborah, born May 2, 1761.
bdaa e.John, born Nov. 7, 1762
bdaa f.Abigail, born Apr. 2, 1764.
bdaa g.Hannah, born Feb. 2, 1766; died June 17, 1782.
bdaa h.Samuel, born Jan. 16, 1768; died Jan. 8, 1770.
bdaa i.Samuel, born Nov. 8, 1769.
bdaa j.Martha, born Dec. 12, 1771, married Gershom
bdaa k.Mary, born Oct. 1, 1773.
The footnotes show the birth information on Samuel coming from "Norwich Records:Windham Church Records."The property and deed information from Mansfield Deeds, Vols.v., p.610; vi., p.164.The interesting stories about Samuel came from "History of Dutchess County," pp.159,160,486, 490.The marriage date of Samuel and Hanna is from "Manfield Records.Family bible says Nov. 22 instead of 21.And, the birth information is from the family bible of Mrs. Lester Webster, Red Rock, N.Y.
I hope this information is some of what you were looking for.Possibly you might find other information in the church records.
If I can help you with anything else, let me know.