DMW:"Awaiting" is transitive, that is, you must use it with an object. "Waiting" is intransitive, unless you are talking about "waiting tables", which means serving food. Although you can't use an object directly with "waiting", you can provide either "for" with a noun or noun phrase, or an infinitive. Effectively, "waiting for" and "awaiting" are interchangeable, although the former usually sounds more natural. Here are some examples.
People are waiting to help.
Related forum topics: