Waldorf is a great area to live. I currently see three properties in Waldorf that fit your needs. If you are not currently working with an agent, it would be a pleasure to assist you in finding your next home. You can also look at the website below and create your own searches.
I will gladly look for you to see what is available that meets your criteria
Please feel free to email me directly and let me know how many people would be moving in? do you have any animals? as this will play a part in finding a rental that would allow pets.