I don't have info on your Elisabeth, but I have a book on some families of Dutchess Co, NY in the 1600's and 1700's and found the following WALDORF. It may help with your search.
Engelbertus WALDORF married Gertraud YOUNGBLOOD (JUNKBLUT)
Their son was: Henrich WALDORF b.26 Feb 1736. He was baptized 07 March 1736 in St.Peters Lutheran Church, Rhinebeck, New York. He married Maria FYNEHOUT who was b. 16 June 1739 in Columbia County, NY and was daughter of Cornelius FYNEHOUT and Christina BRUSIE.
Children of Henrich WALDORF and Maria FYNEHOUT: 1. Nicolas bpt. 11 Nov 1764 2. Marytien bpt. 12 July 1766 3. Johannes bpt. 24 Dec 1769; m. Regina NEAR (NEHER) 4. Martinus bpt. 12 march 1775
Johannes WALDORF was baptized in St.Paul's (Zion's) Lutheran Church in Red Hook, Dutchess County, NY. He married Regina NEAR (NEHER) who was b. 25 Feb 1768 and was daughter of Carl NEHER and Catherine SCHAFFER.
..note: it doesn't say in the book, but more than likely all the children were baptized at the same church.
Hope this gives you something to check out, good luck with your research.