Waveform sampling is an appealing technique for instruments requiring precision time and pulse-height measurements. Sampling each PMT waveform at oscilloscope-like rates of several gigasamples per second enables one to process PMT signals digitally, which in turn makes it straightforward to optimize timing resolution and amplitude (energy and position) resolution in response to calibration effects, pile-up effects, and other systematic sources of waveform variation. We describe a system design and preliminary implementation that neatly maps waveform-sampling technology onto the LaPET prototype whole-body time-of-flight PET scanner that serves as the platform for testing this new technology.