Churro Waffle Ice Cream Sandwiches Sweet and Delectable

Fiona Hawthorne

Fiona Hawthorne

Published Feb 18, 2026

This post may contain affiliate links.

Prep Time

15 mins

Cook Time

15 mins

Servings

4

Churro Waffle Ice Cream Sandwiches Sweet and Delectable

Who can resist the charm of churro waffle ice cream sandwiches? Combining crispy churro waffles with creamy ice cream creates a sweet delight that is hard to beat. In this post, I'll guide you through making this tasty treat, from the doughy batter to fun serving ideas. Whether you're hosting a party or indulging alone, this recipe will surely impress. Let’s dive into the delicious world of churro waffle ice cream sandwiches!

Why I Love This Recipe

  1. Delicious Combination: The warm, crispy churro waffles paired with cold ice cream create a perfect contrast of temperatures and textures.
  2. Easy to Make: This recipe is straightforward and quick, making it perfect for a fun dessert with minimal fuss.
  3. Customizable Flavors: You can use any ice cream flavor you love, from classic vanilla to rich chocolate or even caramel, allowing for endless variations.
  4. Perfect for Sharing: These ice cream sandwiches are great for parties or gatherings, making them a crowd-pleaser that everyone will enjoy.

Ingredients

Main Ingredients for Churro Waffles

- 1 cup all-purpose flour

- 1 tablespoon sugar

- 1 teaspoon baking powder

- 1/2 teaspoon salt

- 1 tablespoon ground cinnamon

- 1 cup milk

- 1 large egg

- 2 tablespoons melted butter

To make churro waffles, you need simple, fresh ingredients. Start with one cup of all-purpose flour. The flour gives the waffles their structure. Next, add one tablespoon of sugar for sweetness. One teaspoon of baking powder helps the waffles rise. A half teaspoon of salt balances the flavors. Ground cinnamon adds that classic churro taste; you will want one tablespoon. For moisture, include one cup of milk. The milk makes the batter creamy. You also need one large egg to bind everything. Finally, two tablespoons of melted butter add richness and flavor.

Coating Ingredients

- 1 cup sugar for coating

- 1/4 cup cinnamon for coating

For the coating, mix one cup of sugar with a quarter cup of cinnamon. This blend gives the waffles that signature churro look and taste. When you coat the warm waffles, the sugar melts slightly and sticks well.

Ice Cream and Optional Toppings

- 2 cups of your favorite ice cream (vanilla, chocolate, or caramel)

- Whipped cream and chocolate sauce for serving (optional)

For the filling, choose two cups of your favorite ice cream. Vanilla, chocolate, and caramel all work great. You can add whipped cream and chocolate sauce for a special touch. These toppings enhance the sweetness and presentation. Enjoy mixing and matching flavors for fun surprises!

Ingredient Image 1

Step-by-Step Instructions

Making the Waffle Batter

Start by whisking together the dry ingredients in a large bowl. This includes 1 cup of all-purpose flour, 1 tablespoon of sugar, 1 teaspoon of baking powder, 1/2 teaspoon of salt, and 1 tablespoon of ground cinnamon. Whisking helps mix all the ingredients well.

Next, in another bowl, combine 1 cup of milk, 1 large egg, and 2 tablespoons of melted butter. Pour this mixture into the dry ingredients slowly. Mix gently until just combined. It is key not to overmix. Overmixing can make your waffles tough.

Cooking the Waffles

Before cooking, preheat your waffle iron. Follow the manufacturer's instructions for the right temperature. Lightly grease the iron with cooking spray or brush it with melted butter. This step prevents sticking.

Pour enough batter into the hot waffle iron to cover the grid. Close the lid and cook for about 3 to 5 minutes. Your waffles should turn golden and crispy. Carefully remove the waffles and place them on a cooling rack.

Preparing the Cinnamon-Sugar Coating

While the waffles cool, mix 1 cup of sugar and 1/4 cup of cinnamon in a separate bowl. This sweet mix adds flavor. Once the waffles are warm, dredge each side in the cinnamon-sugar mixture. Make sure they are well-coated for that classic churro taste.

Assembling the Ice Cream Sandwiches

Take one churro waffle and place a generous scoop of your favorite ice cream on top. I love using vanilla or chocolate for this treat. Now, add another churro waffle on top to create your sandwich. Press down gently to ensure even ice cream distribution.

Adding Optional Toppings

For extra flair, drizzle whipped cream and chocolate sauce over the top of your churro waffle ice cream sandwiches. This adds sweetness and makes the dish look stunning. You can get creative with the toppings for a fun presentation.

Serving Suggestions

Enjoy your churro waffle ice cream sandwiches right away! They taste best when the waffles are warm and the ice cream is cold. Pair them with a glass of milk or a scoop of additional ice cream for a delightful dessert experience.

Tips & Tricks

Tips for Perfecting Churro Waffles

- Choosing the right waffle iron: I recommend a Belgian waffle iron. It makes thick waffles that hold ice cream well. Look for one with a non-stick surface to avoid any sticking.

- Batter consistency for optimum results: Your batter should be thick but pourable. If it’s too thin, the waffles won’t hold their shape. If too thick, they may not cook evenly. Aim for a consistency similar to pancake batter.

Tricks for a Smooth Assembly

- Avoiding melting ice cream: Use ice cream straight from the freezer. This keeps it firm as you assemble. You can even scoop it into balls and place them back in the freezer for a few minutes before using.

- Ensuring sturdy sandwiches: Let your churro waffles cool slightly after cooking. This helps them firm up, making it easier to create a sandwich without them falling apart.

Presentation and Serving Ideas

- Creative ways to present the dish on plates: Stack two churro waffles with ice cream in the middle. Drizzle with chocolate sauce and sprinkle with extra cinnamon-sugar. Add a dollop of whipped cream on the side for flair.

- Fun serving suggestions for parties or gatherings: Set up a churro waffle ice cream sandwich bar. Offer different ice cream flavors and toppings like sprinkles, nuts, or fruit. This lets your guests build their own tasty creations.

Pro Tips

  1. Chill Your Ingredients: For a creamier ice cream sandwich, consider chilling your ice cream scoopers in the freezer for about 15 minutes before assembling. This helps prevent the ice cream from melting too quickly when placed between the warm churro waffles.
  2. Perfect Waffle Texture: Ensure your waffle iron is adequately preheated before pouring in the batter. This will help achieve that golden-brown, crispy exterior while keeping the inside fluffy and tender.
  3. Experiment with Flavors: Feel free to get creative with ice cream flavors! Try adding a scoop of cookie dough or mint chocolate chip to elevate your churro waffle ice cream sandwiches.
  4. Serving Suggestions: For an extra touch, serve your ice cream sandwiches with a side of warm chocolate sauce or caramel for dipping. This adds a deliciously sweet element to your dessert.

Variations

Flavor Variations for Waffles

You can change the taste of your churro waffles. Add chocolate chips or nuts to the batter. These treats bring a nice crunch and extra flavor. You might also try adding vanilla or almond extract. This small change makes a big difference in taste.

Creative Ice Cream Fillings

Mix things up with your ice cream filling. Try unique flavors like salted caramel or cookie dough. These flavors will surprise your taste buds. If you want something lighter, use frozen yogurt or sorbet. These options are refreshing and can suit different diets.

Dietary Modifications

You can make churro waffles fit your diet. For gluten-free waffles, use alternative flours like almond or coconut flour. These flours work well and taste great. If you're lactose intolerant, choose dairy-free ice cream. Many brands offer delicious options that still taste amazing.

Storage Info

Storing Leftover Waffle Components

To store uncooked batter, place it in an airtight container. You can keep it in the fridge for up to two days. If you want to store it longer, freeze the batter. Just pour it into a freezer-safe bag and seal it tightly. You can freeze it for up to three months. When you're ready to use it, thaw it in the fridge overnight.

Keeping Ice Cream Sandwiches Fresh

To store your assembled churro waffle ice cream sandwiches, wrap each one in plastic wrap. Place them in a freezer-safe container. This keeps them from getting freezer burn. You can enjoy them for up to two weeks. If the waffles become soft, you can revive them. Just pop them in the toaster for a few minutes to crisp them up again.

Shelf Life and Expiration Tips

When stored properly, churro waffles last about three days in the fridge. Ice cream can last up to two months in the freezer. Always check for freshness. If the waffles smell off or have a weird texture, it’s best to toss them. For ice cream, look for ice crystals or a strange odor. These are signs it’s time to go.

FAQs

How do I make churro waffles without a waffle iron?

You can make churro waffles in a skillet or a pan. Use a non-stick skillet for best results. Here are some steps to follow:

- Preheat your skillet over medium heat.

- Pour a ladle of batter into the skillet.

- Cook for about 3-4 minutes on each side, until golden brown.

- Flip carefully using a spatula.

This method gives you a similar texture. Just ensure you keep the heat steady.

Can I freeze churro waffle ice cream sandwiches?

Yes, you can freeze churro waffle ice cream sandwiches. Here’s how:

- Wrap each sandwich tightly in plastic wrap.

- Place them in an airtight container or freezer bag.

- Freeze for up to two weeks.

To enjoy later, let them sit at room temperature for a few minutes. This keeps the ice cream from getting too hard.

What is the best ice cream flavor for churro waffle sandwiches?

For churro waffle sandwiches, vanilla is a classic choice. Chocolate and caramel also pair well. Here are some popular picks:

- Vanilla: It complements the cinnamon flavor.

- Chocolate: Adds richness and depth.

- Caramel: Gives a sweet, gooey texture.

Dessert lovers often mix flavors for fun, too! Don't hesitate to experiment.

Can I make churro waffles in advance?

Yes, you can make churro waffles ahead of time. Here’s how to do it:

- Prepare the batter and cook the waffles.

- Let them cool completely before storing them.

- Place them in an airtight container in the fridge.

To reheat, pop them in a toaster or oven at 350°F for about 5 minutes. This keeps them warm and crispy.

Churro waffles blend rich flavors and fun textures to create an exciting treat. We explored how to make them, from mixing the batter to assembling delicious ice cream sandwiches. You can customize these treats with different flavors or toppings to match your style. Remember, storing leftovers correctly keeps them fresh for next time. Enjoy this tasty dessert with friends or family, and don’t hesitate to try new variations. You’ll impress everyone with your homemade churro waffles!

Churro Waffle Ice Cream Sandwiches

Churro Waffle Ice Cream Sandwiches

Delicious churro waffles filled with your favorite ice cream, perfect for a sweet treat.

15 min prep
15 min cook
4 servings
350 cal
Pin Recipe

Ingredients

Instructions

  1. 1

    Make the Waffle Batter: In a large mixing bowl, whisk together flour, sugar, baking powder, salt, and ground cinnamon. In another bowl, combine milk, egg, and melted butter. Slowly pour the wet ingredients into the dry ingredients and mix until just combined. Do not overmix.

  2. 2

    Preheat Waffle Iron: Preheat your waffle iron according to the manufacturer's instructions. Lightly grease with cooking spray or brush with melted butter.

  3. 3

    Cook the Waffles: Pour enough batter into the preheated waffle iron to just cover the waffle grid. Cook until golden and crispy (usually about 3-5 minutes). Carefully remove the waffle and place it on a cooling rack.

  4. 4

    Prepare Cinnamon-Sugar Coating: In a separate bowl, mix 1 cup of sugar and 1/4 cup of cinnamon. While the waffles are still warm, dredge both sides in the cinnamon-sugar mixture, ensuring they are well-coated.

  5. 5

    Assemble the Ice Cream Sandwiches: Take one churro waffle and put a generous scoop of ice cream on top. Place another churro waffle on top to create a sandwich.

  6. 6

    Optional Toppings: Drizzle whipped cream and chocolate sauce over the top of your churro waffle ice cream sandwiches for added sweetness and visual appeal.

  7. 7

    Serve Immediately: Enjoy your delicious churro waffle ice cream sandwiches while the waffles are still warm and the ice cream is cold!

Chef's Notes

Serve immediately for the best experience.

Course: Dessert Cuisine: American
Fiona Hawthorne

Fiona Hawthorne

Recipe Developer

Fiona Hawthorne crafts innovative recipes as a leading Recipe Developer for recipesinsight.