Churro Waffles with Caramel Sauce

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This Churro Waffles recipe is next-level amazing! Topped with homemade caramel sauce, it has a crunchy outside coated in a sugar-cinnamon mixture and a softy, fluffy inside. It’s an easy breakfast idea that you’ll be craving every morning.

Easy Homemade Churro Waffles
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You have NOT even lived unless you’ve tried churro waffles, especially covered with your favorite caramel sauce. These incredible treats are so simple to make, too. You just make a pretty basic, easy waffle recipe, and then dip the still-hot waffles in a dish of cinnamon and sugar. You guys… Whether you have them for breakfast or dessert or breakfast-for-dinner, these heavenly waffles are sure to become a family favorite that you’ll want to make over and over again.

Churros are one of those snacks that are hard to find, but I sure do love enjoying them at fairs and ball games when I can. That’s why I was inspired to create this at-home churro remix using some simple ingredients and a simpler method. It’s got the crunch on the outside that we all so love in churros, with the soft and steamy insides that are just plain irresistible. My kids know something good is coming when I get out the waffle iron AND the sugar and cinnamon… I can’t wait for you to serve these special treats up to you and yours!

Looking for more waffle recipes? Try my Classic Waffle Recipe or these Fluffy Buttermilk Waffles!

Homemade Churro Waffles

Why You’ll Love This Recipe

  • Churro Flavor in Waffle Form: This recipe combines the best of both worlds by bringing the delicious, cinnamon-sugar flavor of churros into a waffle form. It’s a creative twist that gives you a fun and familiar taste.
  • Decadent Caramel Sauce: The caramel sauce adds a rich, buttery sweetness that perfectly complements the churro-flavored waffles.
  • Warm and Comforting: The warm cinnamon and sugar waffles topped with the caramel sauce feel like ultimate comfort food. And yet they’re still crazy easy to whip up!


  • Flour
  • Baking Powder
  • Salt
  • Granulated Sugar
  • Eggs
  • Neutral Oil: such as vegetable, canola, or avocado oil
  • Milk
  • Granulated Sugar
  • Cinnamon
  • Caramel Sauce: a jar of your favorite brand of ice cream topping or your favorite homemade caramel sauce

See the recipe card below for full information on ingredients and quantities 

Homemade Churro Waffles For Breakfast

How to Make Churro Waffles with Caramel Sauce

Step #1. In a medium bowl, combine the dry waffles ingredients. Make a well in the center and add the wet waffle ingredients to the well. Whisk until a slightly lumpy batter forms.

Step #3. Cook the batter according to the waffle maker’s directions. Remove the cooked waffle and immediately place it in the cinnamon sugar, turning to coat both sides. Repeat with remaining batter.

Step #2. In a shallow dish, mix the 1/3 cup sugar and cinnamon.

Step #4. Top with caramel sauce and serve.

How do you keep churro waffles warm?

While you’re making churro waffles, you can keep the “done” ones in a 200 degree F. oven on a wire rack. This will keep them toasty warm, as well as help them to maintain their crunchy exterior texture without continuing to cook them.

What do you serve with homemade churro waffles?

I love, love, love these with caramel sauce. There’s just something about the spicy sweetness of the sugar-cinnamon coating that pairs amazingly with the warm sweetness of caramel. You can also serve them up like regular waffles with traditional toppings, like syrup, strawberries, and whipped cream.

How do you store leftover churro waffles?

Put leftover churro waffles in an airtight container once they have completely cooled, and store them in the fridge for up to a week. To reheat, place them on a wire rack in a 350 degree F. oven until fully heated through, about 10 minutes.

Cinnamon Churro Waffles Recipe

Expert Tips

  • Be sure your waffle iron is good and hot before cooking each waffle so you get a perfectly crispy outside.
  • Make sure to grease your waffle iron with a little oil or non-stick spray before adding your batter each time. Cleaning stuck-on waffle out of the nooks and crannies isn’t fun.
  • These waffles are best right out of the waffle iron, but you can keep them warm in a 200°F oven if you need to.
  • Adding a little bit of salt to the caramel sauce will help balance the sweetness.
Homemade Churro Waffles with Caramel Sauce

Serve these waffles with

More Waffle Recipes to Consider

churro waffles on a plate with caramel sauce
5 from 1 vote

Churro Waffles with Caramel Sauce

These churro waffles with caramel sauce are next-level amazing! With a crunchy outside coated in a sugar-cinnamon mixture and a softy, fluffy inside, you’ll be craving these nearly every morning.
Prep: 10 minutes
Cook: 10 minutes
Total: 30 minutes
Servings: 6 large waffles


  • 1 3/4 cups flour
  • 1 tablespoon baking powder
  • 1/4 teaspoon salt
  • 3 tablespoons granulated sugar
  • 2 large eggs
  • 1/2 cup neutral oil, such as vegetable, canola, or avocado oil
  • 1 3/4 cups milk, I normally use 2%
  • 1/3 cup granulated sugar
  • 1 tablespoon cinnamon
  • Caramel sauce, like ice cream topping
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  • In a medium mixing bowl, combine the flour, baking powder, salt, and sugar, and stir to combine.
  • Make a well in the center of the dry ingredients, and add the eggs, oil, and milk.
  • Whisk all ingredients together until a thin and slightly lumpy batter forms.
  • In a shallow dish combine the remaining 1/3 cup of sugar and cinnamon and stir to combine.
  • Pour the batter into your waffle iron according to manufacturer’s directions.
  • When the waffle is done cooking, carefully toss the waffle in the sugar and cinnamon mixture while it is still hot, and place sugar-coated waffle on a wire rack to cool, taking care not to stack the waffles on top of each other. Repeat with remaining batter.
  • Serve waffles hot with caramel sauce or your favorite topping, such as buttermilk syrup, strawberries, and whipped cream.


  • If making more than one batch, you can keep the waffles warm in a 200 degree F. oven until ready to serve.
  • It’s really helpful to use a measuring cup to add the batter to your waffle iron. Make note of how much of the batter it takes to fill it, and you can get it just right every time without worrying about a mess.
  • It’s optional, but warming the caramel sauce is always a good idea.
  • You can always add extra toppings like whipped cream, fruit, etc. for an extra special touch.


Serving: 1 of 6 large waffles, Calories: 434kcal, Carbohydrates: 50g, Protein: 8g, Fat: 23g, Saturated Fat: 3g, Polyunsaturated Fat: 6g, Monounsaturated Fat: 13g, Trans Fat: 0.1g, Cholesterol: 71mg, Sodium: 361mg, Potassium: 175mg, Fiber: 2g, Sugar: 21g, Vitamin A: 209IU, Vitamin C: 0.05mg, Calcium: 233mg, Iron: 2mg
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