Churros—those deep-fried, sugar-coated sticks of dough—are made from what is essentially pâte à choux, the same stuff used to make éclairs. Here, that batter is waffled, with the nooks and crannies of the waffled churros providing space for the chocolate sauce to pool.
I love deep-fried foods, but do I always want to deep-fry? No. It takes time, uses more oil than I often have on hand, and requires more attention than I can sometimes spare. The substitution of waffling for deep-frying cooks the churros just as quickly without the hassle of heating up a cauldron of oil on the stovetop.
It's important not to overstuff the waffle iron with the batter when making these. Putting the batter all in at once produces results a little like that "I Love Lucy" episode where the bread is pushing out of the oven. Actually a lot like it, only with a waffle iron.
Err on the side of using less batter at first before you see how much it spreads out and rises. You may even want to make a test churro.
One bonus of making these: Any leftover cinnamon sugar can be saved and added to coffee or hot chocolate. That goes for the chocolate sauce, too.