Preheat your waffle iron according to the manufacturer's guidelines to ensure even cooking.
In a large mixing bowl, whisk together the all-purpose flour, baking powder, salt, 1 teaspoon of ground cinnamon, and 1 tablespoon of granulated sugar until well-blended.
In a separate bowl, combine the milk, vegetable oil, egg, and vanilla extract. Whisk these ingredients together until smooth and fully mixed.
Gradually pour the wet mixture into the dry ingredients, stirring gently until just combined. Be cautious not to overmix; it's perfectly fine if there are a few small lumps in the batter.
Lightly grease the waffle iron with cooking spray or a pastry brush dipped in melted butter to prevent sticking. Pour an appropriate amount of batter onto the preheated waffle iron, approximately 1/2 to 2/3 cup depending on the size of your appliance. Close the lid and cook until the waffle turns a beautiful golden brown and develops a crispy exterior, typically around 5 minutes.
While the waffles are cooking, prepare the cinnamon-sugar coating. In a shallow dish, blend 1/2 cup of granulated sugar with 1 tablespoon of ground cinnamon until evenly combined.
Once the waffles are finished cooking, carefully remove them from the iron using a fork or tongs. Immediately brush the surface of each waffle with melted butter to enhance flavor and help with the coating.
Roll the buttered waffles in the cinnamon-sugar mixture, ensuring each waffle is generously coated for that signature churro flavor.
Serve the waffles warm, allowing everyone to indulge in the delightful sweetness and spiced aroma of your homemade Cinnamon Sugar Churro Waffles!
Notes
Serve warm with whipped cream or chocolate sauce for extra indulgence.