Make the churro waffle batter:

• In a large mixing bowl, whisk together the flour, baking powder, cinnamon, salt, and sugar.
• In a separate bowl, beat the egg and then add the milk, melted butter, and vanilla extract. Mix until fully combined.
• Add the wet ingredients to the dry ingredients and stir until just combined. Be careful not to overmix; the batter should be slightly lumpy.

2. Cook the churro waffles:

• Preheat your waffle iron according to the manufacturer’s instructions.
• Lightly grease the waffle iron with cooking spray or melted butter.
• Pour about ½ cup of batter into the waffle iron and cook until golden brown and crispy (typically about 3-4 minutes, depending on your waffle iron).
• Repeat with the remaining batter, keeping the waffles warm in the oven if needed.

3. Make the peaches & cream sauce:

• In a medium saucepan, melt the butter over medium heat. Add the chopped peaches and brown sugar. Cook, stirring occasionally, for 4-5 minutes until the peaches soften and release their juices.
• Stir in the heavy cream and vanilla extract, then cook for an additional 2-3 minutes until the sauce thickens slightly.
• Use a spoon or immersion blender to blend the sauce until smooth, or leave it chunky if you prefer.

4. Assemble the churro waffles:

• In a small bowl, combine the granulated sugar and cinnamon for the cinnamon-sugar coating.
• Immediately after the waffles come out of the waffle iron, brush them with melted butter and sprinkle them generously with the cinnamon-sugar mixture.

5. Serve:

• Plate the churro waffles and drizzle with the peaches & cream sauce. Serve warm and enjoy!