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These golden, sweet churro waffles are crispy on the outside and soft on the inside, just like a fried churro! They are perfect for breakfast or dessert. Easy to make and absolutely irresistible!

Holding a churro waffle piece dipped in caramel sauce. Plate of churro waffles and fresh strawberries in the background.

Jump to Recipe

I was first introduced to churro waffles on my very first Disney cruise several years ago. Needless to say, I was hooked. The ones on the cruise have more of a soft waffle texture, whereas actual churros are crispy on the outside and light and airy on the inside. This is what I wanted, so I did some experimenting. Instead of making a more traditional waffle batter, I made a sort of choux dough, which is what actual churros are made with. This was the breakthrough my experiment needed, because it made all the difference!

These taste just like churros, just without having to fry them! You’re going to love them. The fun thing about making them at home is that you can have them whenever you want! Even on Disney cruises, they aren’t offered every day. You have to ask what day they will be available, and even then, they don’t offer them every sailing. With this recipe, you’re guaranteed a bite of the delicious churro waffles whenever you please!

Ingredients to make churro waffles sugar, flour, Dulce de Leche caramel, dark chocolate sauce, vanilla, butter, eggs and salt.

Ingredients for Churro Waffles

I am going to go out on a limb and say you probably have all the ingredients you need for this churro waffles recipe in your pantry right now. I always have these ingredients on hand at any given time:

Granulated sugar
Cinnamon
Butter
Salt
Eggs
Vanilla extract
Flour

How to Make Churro Waffles Step-by-Step

Follow these steps to make perfect churro waffles:

Step 1: Mix together sugar and cinnamon in a shallow dish and set aside for later use.
Step 2: In a medium saucepan, combine water, butter, sugar, and salt. Heat on medium heat just until butter is melted. Do not bring to a boil.
Step 3: Remove from heat and add flour. Stir with a wooden spoon until smooth and a dough forms.
Step 4: Return to the stove top and heat on medium heat for 2-3 minutes, fold and press the dough around until flour starts coming off the dough to the sides of the pan. The dough should be smooth and pliable.
Step 5: Remove from heat and turn the dough out into a mixing bowl and cool for about 3-5 minutes.
Step 6: When dough has cooled a little, use a hand mixer to mix in eggs and vanilla until smooth. It should be a very thick batter consistency at this point. Not quite enough to hold its shape but thick enough to scoop onto a spoon without falling off.
Step 7: Spray the preheated waffle iron with cooking spray and place about ¼ cup of batter onto the waffle iron. Close the iron and allow to cook a full cycle until the light turns off (my waffle iron takes 3-4 minutes for a typical cycle). They should be crispy and golden brown.
Step 8: Remove waffle from the waffle iron and immediately coat in cinnamon-sugar mixture.
Step 9: Serve with your favorite churro toppings!

Make Them More Waffle-y

These ingredients make more of a choux pastry dough to make it more like a true crispy churro. If you would like more of a soft, breakfast-y waffle use our homemade waffle recipe. Simply make the batter as directed, cook the waffles in the waffle iron, and pick up on Step 8 in the recipe below.

Three churro waffles on a plate next to a small bowl of fresh strawberries, chocolate dipping sauce, and caramel dipping sauce.

How to Make Mickey Churro Waffles

If you want to make Mickey churro waffles, you can use either method (the method below or the waffle batter method). Obviously, the trick to getting perfect Mickey waffles is to have the right waffle maker. I have this double flip Mickey waffle maker and it makes the Mickey Waffles JUST like the ones at the parks and cruise lines. The choux pastry dough is thicker, so I have to put about 2 tablespoons of dough in the “head” part of each Mickey’s head on the iron, and then put about a teaspoon of dough in each ear. When using batter, I just kind of push the batter up into the ears and it cooked up just fine. OK but seriously, look how cute these turn out!

Mickey Mouse shaped churro waffles on a plate. Sides of chocolate dipping sauce, caramel dipping sauce and whipped cream cream.

Fun Toppings for Your Churro Waffles

The crispy, cinnamon sugar coating crunch on these churro waffles is irresistible and I love them as-is. However, I like them best dipped in some warm dulce de leche or chocolate sauce. That’s just me though! You can try them with all kinds of dips and toppings. Try them with homemade whipped cream, caramel cream dip, strawberry jam, strawberry syrup, chocolate sauce, ice cream, maple syrup, and/or caramel sauce. Fresh fruit like strawberries, bananas, blueberries, and raspberries are also great toppings when serving for breakfast.

Plate of churro waffles with chocolate and caramel sauce on top and whipped cream.

Additions and Substitutions

Spice Up the Sugar Coating – add a little nutmeg or pumpkin pie spice to the ground cinnamon when making your cinnamon-sugar mixture for a warm, fall flavor.

Melted butter – melt a few tablespoons of butter and brush some onto each waffle right after they come out of the waffle iron, but before you dip them in the cinnamon-sugar mixture. This will give a richness of flavor.