Description
At its core, a Churro Waffle Ice Cream Sandwich is a hybrid dessert that utilizes a cinnamon-infused waffle batter as the “bread” for a decadent ice cream filling. Unlike a traditional waffle that might be soft and pillowy, these waffles are cooked until they achieve a specific level of crispness. While they are still radiating heat from the iron, they are tossed in a signature blend of granulated sugar and ground cinnamon. This creates a sweet crust that mimics the exterior of a traditional Mexican churro.
Ingredients
Churro Waffles
2 cups all-purpose flour
1 tbsp sugar
1 tsp baking powder
½ tsp baking soda
½ tsp salt
2 tsp ground cinnamon
1¾ cups milk
2 large eggs
â…“ cup melted butter (or vegetable oil)
1 tsp vanilla extract
Cinnamon Sugar Coating
½ cup granulated sugar
1½ tsp ground cinnamon
Filling
Vanilla ice cream (or dulce de leche, churro, cinnamon, or chocolate ice cream)
Instructions
1. Make the Waffle Batter
Preheat your waffle iron.
In a large bowl, whisk together flour, sugar, baking powder, baking soda, salt, and cinnamon.
In another bowl, whisk milk, eggs, melted butter, and vanilla.
Add wet ingredients to dry ingredients and stir until just combined (don’t overmix).
2. Cook the Waffles
Lightly grease the waffle iron.
Pour batter into the iron and cook until waffles are golden and crisp.
Remove waffles and immediately proceed to coating.
3. Cinnamon Sugar Coating
Mix sugar and cinnamon in a shallow bowl.
While waffles are still warm, generously coat both sides in cinnamon sugar.
Let waffles cool completely on a wire rack (important so the ice cream doesn’t melt).
4. Assemble the Sandwiches
Scoop ice cream onto the flat side of one waffle.
Top with another waffle, cinnamon-sugar side facing in.
Gently press together.
Optional Freezer Step (Highly Recommended)
Wrap each sandwich in parchment paper and freeze for 30–60 minutes to firm up before serving.
Notes
These churro waffle ice cream sandwiches are best enjoyed fresh, when the waffles are still warm and crisp against the cold, creamy ice cream. Feel free to mix and match ice cream flavors and toppings to make them your own!
- Prep Time: 10 minutes
- Cook Time: 10 minutes
- Category: Dessert
- Method: Waffle
- Cuisine: American
Nutrition
- Serving Size: 1 sandwich
- Calories: 420 kcal
Keywords: Cinnamon waffle ice cream treats, churro ice cream sliders, fried dough waffle sandwiches, dessert waffle sandwiches