Using a heavy-mass effective field theory (HEFT), we study gravitational-wave emission in the scattering of two spinless black holes or neutron stars of arbitrary masses at next-to-leading order in the Post-Minkowskian expansion. We compute the contributions to the one-loop scattering amplitude with four scalars and one graviton which are relevant to the calculation of the waveforms, also presenting expressions of classical tree-level amplitudes with four scalars and up to two radiated gravitons. The latter are obtained using a novel on-shell recursion relation for classical amplitudes with four scalars and an arbitrary number of gravitons. Our one-loop five-point amplitude is expressed in terms of a single family of master integrals with the principal value prescription for linearised massive propagators, which we evaluate using differential equations. In our HEFT approach, soft/heavy-mass expansions of complete integrands are avoided, and all hyper-classical iterations and quantum corrections are dropped at the diagrammatic level, thereby computing directly contributions to classical physics. Our result exhibits the expected factorisation of infrared divergences, the correct soft limits, and highly nontrivial cancellations of spurious poles. Finally, using our amplitude result we compute numerically the corresponding next-to-leading corrections to the spectral waveforms and the far-field time-domain waveforms using the Newman-Penrose scalar $\Psi_4$.