Oat-Milk Soft Serve with Waffle Churro Bites

Inspired by New York City’s celebrated Urban Dessert Lab, this indulgent yet vegan-friendly treat pairs creamy oat-milk soft serve with waffle churro bites — a fun twist that marries street-fair nostalgia with modern plant-based innovation. The oat-milk base is churned into a light, airy soft serve (or blended for a quicker version), while churro dough is cooked in a waffle iron for a crisp exterior and chewy center. The result? A playful, creative dessert that’s big on flavor, texture, and style — perfect for a weekend treat or a casual night in.

Why You’ll Love This Recipe

• 100% plant-based: A fully vegan dessert that doesn’t skimp on indulgence.
• Creamy and satisfying: Oat milk and coconut milk combine for a luscious soft serve texture.
• Churros with a twist: No frying needed — just waffle iron magic and cinnamon sugar.
• Customizable: Add toppings, sauces, or extra spices to make it your own.
• Urban-inspired: A trendy dessert with a street-fair meets café dessert bar feel.

ingredients

(Tip: You can find the complete list of ingredients and their measurements in the recipe card below.)

Oat-Milk Soft Serve:

• Oat milk (barista blend recommended for creaminess)
• Full-fat coconut milk (canned)
• Granulated sugar
• Vanilla extract
• Salt
• Cornstarch

Waffle Churro Bites:

• Water
• Sugar
• Vegan butter or coconut oil
• Salt
• All-purpose flour
• Vanilla extract
• Oil spray (for waffle iron)
• Cinnamon sugar (sugar mixed with cinnamon)

directions

Make the Oat-Milk Soft Serve:

1. Prepare the base: In a saucepan, combine oat milk, coconut milk, and sugar. Whisk in cornstarch and a pinch of salt.
2. Cook the mixture: Heat over medium heat, stirring constantly, until the mixture thickens slightly and coats the back of a spoon (about 5–7 minutes). Do not boil.
3. Add flavor: Remove from heat and stir in vanilla extract.
4. Chill: Pour into a container and chill for at least 4 hours or overnight until cold.
5. Churn or blend:
   • Ice cream maker method: Churn according to your machine’s instructions until thick and soft-serve consistency.
   • No-machine method: Freeze the base until mostly solid, then blend in a high-speed blender until smooth and creamy.

Make the Waffle Churro Bites:

1. Boil wet ingredients: In a saucepan, bring water, sugar, vegan butter (or coconut oil), and salt to a gentle boil.
2. Add flour: Remove from heat and stir in flour until a thick dough forms. Mix in vanilla.
3. Preheat and grease waffle iron: Heat your waffle iron and spray with oil to prevent sticking.
4. Portion the dough: Use a spoon or small scoop to add tablespoon-sized dollops of dough into the waffle iron. Close and cook for 3–4 minutes until golden brown and crisp.
5. Coat in cinnamon sugar: While warm, toss the bites in a bowl of cinnamon sugar until fully coated.

Serve:

1. Scoop oat-milk soft serve into bowls or cups.
2. Add a handful of warm waffle churro bites on the side.
3. Optional toppings: drizzle with vegan caramel, chocolate sauce, or top with crushed nuts or berries.
4. Dip churros into soft serve or alternate bites for a creamy-crunchy dessert experience.

Servings and timing

This recipe serves 4.

• Prep time: 20 minutes
• Cook time: 15 minutes
• Chill/freezing time: 4–6 hours for soft serve
  Total time: 5 hours (including chill time; less if using blender method)

Variations

• Spiced churro bites: Add nutmeg or cardamom to the dough for extra flavor.
• Chocolate soft serve: Mix in ¼ cup cocoa powder while heating the base.
• Dairy-free toppings: Add vegan whipped cream, fruit compote, or a swirl of nut butter.
• Waffle pop version: Shape churro dough onto waffle sticks and serve dipped in soft serve.

storage/reheating

• Soft serve: Store in a sealed container in the freezer. Let soften for 5–10 minutes before serving.
• Waffle churro bites: Best enjoyed fresh, but can be stored in an airtight container for 1–2 days. Reheat briefly in a toaster oven or skillet to regain crispness.
• Avoid microwave for churros, as it will make them soggy.

FAQs

Can I make the soft serve without an ice cream maker?

Yes, use the blender method: freeze the base in a shallow pan, then blend until creamy and serve immediately.

What oat milk works best?

Barista blend oat milks are richer and creamier, making them ideal for frozen desserts.

Can I bake the churro dough instead?

You can, but the texture will be different. The waffle iron method gives the best crisp outside and chewy interior.

Is coconut milk necessary?

Yes, it adds fat and richness. You can try using another plant-based cream alternative, but results may vary.

Can I make this gluten-free?

Yes, use a 1:1 gluten-free flour blend for the churro dough. Make sure your oat milk is certified gluten-free.

Do I have to use cinnamon sugar?

No, you can try cocoa powder, powdered sugar, or flavored sugar blends.

Can I prepare components in advance?

Yes. Soft serve base can be made a day ahead, and waffle churro dough can rest in the fridge for a few hours before cooking.

What if my soft serve is too hard?

Let it sit at room temperature for a few minutes, then stir before scooping.

Can I use almond or soy milk instead?

Oat milk is ideal for creaminess, but other plant milks can be used. The texture may be less rich.

Is this dessert kid-friendly?

Absolutely — kids love dipping warm churros into soft, cold ice cream, and it’s allergy-friendly if made with care.

Conclusion

This Oat-Milk Soft Serve with Waffle Churro Bites is a modern, plant-based dessert that captures the fun of a street fair with the creativity of a gourmet treat. From the creamy, chilled oat-milk soft serve to the warm, crisp churro waffles tossed in cinnamon sugar, every bite offers contrast, comfort, and indulgence — all without dairy or eggs. Whether you’re recreating a NYC dessert experience or trying something new at home, this vegan dessert will impress with both taste and flair.

Oat-Milk Soft Serve with Waffle Churro Bites

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• Author: Mari
• Total Time: ~5 hours (with chilling)
• Yield: 4–6 servings
• Diet: Vegan

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Description

Inspired by NYC’s Urban Dessert Lab, this modern vegan dessert combines creamy oat-milk soft serve with crispy waffle churro bites. The soft serve is made from oat milk and coconut milk, churned to a luscious, plant-based texture. The churro bites—crispy on the outside, soft inside—are made in a waffle iron, then rolled in cinnamon sugar. Perfect for a creative, indulgent yet vegan-friendly dessert that channels big city dessert vibes. Think vegan oat milk ice cream meets churro street food.

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Ingredients

Oat-Milk Soft Serve:

• 2 cups oat milk (barista blend recommended)

• 1 (14 oz) can full-fat coconut milk

• 3/4 cup sugar

• 1 tbsp vanilla extract

• Pinch of salt

• 2 tbsp cornstarch

Waffle Churro Bites:

• 1 cup water

• 2 tbsp sugar

• 2 tbsp vegan butter or coconut oil

• 1/4 tsp salt

• 1 cup all-purpose flour

• 1 tsp vanilla extract

• Oil spray (for waffle iron)

• 1/2 cup sugar + 2 tsp cinnamon (for coating)

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Instructions

1. Make the Soft Serve Base:
In a saucepan, combine oat milk, coconut milk, sugar, and salt. Heat over medium heat. In a separate bowl, whisk cornstarch with a few tablespoons of the warm mixture to dissolve, then stir back into the pot. Cook until slightly thickened (5–7 minutes), stirring constantly. Remove from heat, stir in vanilla. Chill mixture for several hours or overnight.

2. Churn the Soft Serve:
Once cold, churn in your ice cream maker per manufacturer instructions. Serve immediately for soft serve texture, or freeze for 1–2 hours for a firmer scoop.
No ice cream maker? Blend frozen cubes of the mixture with a splash of oat milk until smooth and soft-serve-like.

3. Make Waffle Churro Bites:
In a saucepan, bring water, sugar, butter/oil, and salt to a boil. Reduce heat and stir in flour until dough forms a ball. Let cool slightly, then mix in vanilla. Preheat and spray a waffle iron. Place small scoops or balls of dough into the waffle iron and cook until golden and crisp (4–6 minutes). Roll hot churro bites in cinnamon sugar mixture.

 

4. Serve Together:
Scoop oat-milk soft serve into bowls. Add a few warm churro bites on the side. Serve immediately while the churros are hot and the soft serve is cool and creamy. Dip and enjoy!

Notes

• For extra flair, drizzle churros or soft serve with vegan chocolate sauce.

• Add espresso or caramel extract to the soft serve base for a twist.

• Waffle churros can be prepped in advance and warmed before serving.

• Prep Time: 20 minutes
• chill time: 4+ hours
• Cook Time: 30 minutes
• Category: Dessert
• Method: Churned, Stovetop, Waffle Iron
• Cuisine: Modern