Ahsoka says within "Chapter 13: The Jedi" that he's the same species (or type of "being"):
He was raised at the Jedi Temple on Coruscant. Many Masters trained him over the years. At the end of the Clone Wars when the Empire rose to power, he was hidden. Someone took him from the Temple. Then his memory becomes... dark. He seemed lost. Alone.
I've only known one other being like this. A wise Jedi Master named Yoda. Can he still wield the Force?
(Source: The Mandalorian, Chapter 13: The Jedi, via https://transcripts.foreverdreaming.org/viewtopic.php?t=40521)
(It makes sense that she wouldn't have known Yaddle, who died in 32 BBY when Ahsoka was 4 years old).
It's also made explicit by the official audio description track in Chapter 1:
The Mandalorian sweeps his fob around. It blinks red as it points toward a strange, floating egg-shaped object that sits half-concealed under some netting. The Mandalorian walks over to it. The IG droid steps up by his side as he keys a small panel which powers down a veil generator to reveal what's inside. A baby, the same race as Yoda, smiles up at them.
(Source: The Mandalorian, Chapter 1: The Mandalorian on Disney Plus)