01 -
Preheat the waffle iron according to the manufacturer's instructions.
02 -
In a large bowl, whisk together the flour, sugar, baking powder, and salt.
03 -
In another bowl, combine the milk, eggs, and melted butter. Pour the wet ingredients into the dry ingredients and mix until just combined.
04 -
Pour the batter into the preheated waffle iron, using about ½ cup of batter per waffle. Cook until golden brown and crispy, about 5-7 minutes.
05 -
In a small bowl, mix together the granulated sugar and ground cinnamon for the topping.
06 -
Once the waffles are cooked, immediately sprinkle them with the cinnamon sugar mixture while they are still warm.
07 -
In a mixing bowl, beat the heavy cream, powdered sugar, vanilla extract, orange zest, orange juice, and ground cinnamon until soft peaks form.
08 -
Serve the churro waffles warm with a generous dollop of cinnamon orange whip on top.