Homemade Churro Waffles With Caramel Sauce
on Aug 11, 2019, Updated Feb 12, 2025
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This churro waffles breakfast is next-level amazing! Topped with homemade caramel sauce, it has a crunchy outside coated in a sugar-cinnamon mixture and a soft, fluffy inside. It’s an easy breakfast idea that you’ll be craving every morning.
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 whip up 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!
Table of Contents
Why You’ll Love These Churro Waffles
- 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!
- Quick and Easy: With simple ingredients and minimal prep time, this recipe is perfect for busy mornings or spontaneous treats.
- Versatile Toppings: Customize your waffles with toppings like whipped cream, homemade buttermilk syrup, or chocolate drizzle for endless delicious possibilities.
🧇 You’ve gotta try whipping up some sweet cherry waffles for breakfast—my kids go crazy for them, and I swear, the giggles are worth every sticky bite!
Recipe Ingredients
- All-Purpose Flour
- Baking Powder
- Salt
- Granulated Sugar
- Eggs
- Neutral Oil — such as vegetable, canola, or avocado oil
- Milk
- Cinnamon
- Caramel Sauce — Use a jar of your favorite brand of ice cream topping or make an easy homemade caramel sauce.
See the recipe card below for full information on ingredients and quantities
How to Make Homemade 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 2: In a shallow dish, mix the 1/3 cup sugar and cinnamon.
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 4: Top with caramel sauce and serve.
Recipe FAQs
While you’re making churro waffles, you can keep the “done” ones in a 200°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.
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 blueberry sauce, strawberries, and whipped cream.
While you technically can, don’t. The baking powder starts working right away and you’ll lose that perfect crispy-fluffy texture that makes these so special. Trust me, it takes 5 minutes to mix in the morning.
You’re probably opening the waffle maker too soon. Let them cook until the steam slows down significantly – even a minute past when you think they’re done. That extra time creates the crispy exterior that holds up to the cinnamon-sugar coating
Expert Tips
- Hot Iron: Be sure your waffle iron is good and hot before cooking each waffle so you get a perfectly crispy outside.
- Non-Stick: 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.
- Eat While Hot: 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.
- Salty & Sweet: Adding a little bit of salt to the caramel sauce will help balance the sweetness.
How To Store Leftovers
Store any leftover churro waffles in an airtight container for up to 3 days, though they’ll start losing their signature crispiness after day one.
To reheat, skip the microwave (it’ll make them soggy) and pop them in your toaster or air fryer at 350°F for 2-3 minutes until they’re hot and crispy again.
If you want to freeze them, let them cool completely, place wax paper between each waffle to prevent sticking, and store in a freezer bag for up to 2 months.
When you’re ready to eat, reheat them straight from frozen in the toaster or air fryer – no need to thaw first. Just remember to add fresh cinnamon sugar after reheating since the original coating might have absorbed into the waffle.
More Waffle Recipes to Consider
Simple Gingerbread Recipes
Homemade Gingerbread Syrup: Cozy Holiday in a Bottle
15-Minute Recipes
Cornbread Waffles with Chili – 15 Minute Dinner Idea
Did you make this recipe? Leave a ⭐️ review and share it on Instagram, Facebook, or Pinterest!
Homemade Churro Waffles With Caramel Sauce
Ingredients
- 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
Instructions
- 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.
Notes
- If making more than one batch, you can keep the waffles warm in a 200°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.
