Copycat Costco Caramel Churro Sundae Recipe

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 While the $1.50 hot dog combo often steals the spotlight, there’s one dessert that has my heart—the Costco Caramel Churro Sundae. The perfect combination of creamy soft-serve, warm churros, and gooey caramel sauce makes this treat absolutely irresistible.

How to make Costco Caramel Churro Sundae

The Costco Caramel Churro Sundae is a dessert sold at some Costco food courts. It’s an indulgent soft-serve ice cream sundae topped with caramel and churro pieces, combining creamy, crunchy, and cinnamon-sweet flavors in one cup.

Ingredients

For the Soft-Serve Ice Cream:

• 1 quart of high-quality vanilla ice cream (store-bought or homemade)

For the Mini Churros

• 1/2 cup all-purpose flour
• 1/2 cup water
• 2 tablespoons unsalted butter
• 1 egg
• 1/4 teaspoon salt
• 1/4 teaspoon vanilla extract
• 1/4 cup granulated sugar (for dusting)
• 1 teaspoon cinnamon (for dusting)
• Cooking oil (vegetable or canola) for frying.

For the Salted Caramel Sauce

• 1 cup granulated sugar
• 1/4 cup unsalted butter (cubed)
• 1/2 cup heavy cream
• 1/4 teaspoon sea salt (adjust to taste).

Instructions

Step 1: Prepare the Mini Churros

1. Make the Churro Dough: In a medium saucepan, combine water, butter, and salt. Heat over medium until the butter melts and the mixture begins to simmer. Remove from heat and quickly stir in the flour. Stir vigorously until a smooth dough forms and pulls away from the sides of the pan. Let it cool slightly.
2. Incorporate the Egg: Once the mixture has cooled for 2–3 minutes, add in the egg and vanilla extract. Stir until completely combined. The dough will look wet at first, but keep mixing—it’ll come together.
3. Pipe the Churros: Spoon the dough into a piping bag fitted with a star tip. Pipe bite-sized pieces (about 1 inch long) onto a sheet of parchment paper.
4. Fry the Churros: Heat your oil in a deep skillet to 350°F (175°C). Fry the churro bites in small batches until golden brown, about 2–3 minutes per batch. Use a slotted spoon to remove them and drain on a paper towel.
5. Coat the Churros: Toss your churro bites in a cinnamon-sugar mixture (prepared by combining sugar and cinnamon). Set aside.

Step 2: Make the Salted Caramel Sauce

1. Melt Sugar: In a medium saucepan, heat the granulated sugar over medium heat, stirring constantly. It will clump at first but will eventually melt into a smooth amber liquid.
2. Add Butter: Once the sugar has liquefied, carefully add the butter (it may splatter slightly), whisking until smooth.
3. Incorporate Cream: Slowly pour in the heavy cream while whisking. The mixture will bubble up, so be cautious. Continue whisking for 1–2 minutes until fully combined.
4. Season with Salt: Stir in the sea salt to taste. Remove from heat and allow to cool slightly before using.

Step 3: Assemble the Sundaes

1. Start with your vanilla soft-serve (or softened ice cream) as the base. Scoop it into a serving bowl or sundae cup.
2. Generously drizzle the salted caramel sauce over the ice cream.
3. Top the sundae with a handful of mini churro bites for a crunchy, cinnamon-sweet finish.
4. Add more caramel drizzle on top for extra indulgence (optional).
5. Serve immediately and enjoy your homemade Costco Caramel Churro Sundae!

Tips to Nail the Recipe

• For Authentic Soft-Serve Texture: If you want to mimic Costco’s soft-serve texture, use a packet of soft-serve ice cream mix (available online or at specialty stores) or whip store-bought vanilla ice cream with a hand mixer until creamy and smooth before freezing it slightly.
• Customizing Churros: You can make the churros larger or dip them in chocolate sauce as an additional topping—perfect for a fancier twist!
• Shortcuts: If you’re short on time, you can buy frozen churros from your local grocery store. Simply bake or fry them according to the package instructions and cut them into bite-sized pieces.
• Consistency Check for Caramel: The caramel sauce will thicken as it cools. Reheat it over low heat or thin it with a splash of cream if it becomes too thick to drizzle.

What to serve with

The Costco Caramel Churro Sundae is already a star all on its own—with creamy ice cream, crunchy churros, and decadent caramel sauce stealing the spotlight.

• Hot Chocolate: A creamy, rich hot chocolate (or a Mexican hot chocolate with a hint of cinnamon) complements the cinnamon sugar on the churros and the caramel sauce. Top it with whipped cream for extra indulgence!
• Espresso or Coffee: Pair your sundae with a cup of strong coffee or a shot of espresso. The bitterness of coffee balances the sweetness of the sundae perfectly. For a fun twist, transform the Costco Caramel Churro Sundae into an affogato by pouring the hot espresso directly over the ice cream!
• Chai Latte: The spicy, warming flavors of a chai latte (with notes of cinnamon, cardamom, ginger, and cloves) resonate beautifully with the flavors in the churros, creating a cozy pairing.

Ingredients Substitutes

The beauty of making the Costco Caramel Churro Sundae at home is that it’s totally customizable.

1. Soft-Serve Vanilla Ice Cream

The soft-serve ice cream is a creamy, sweet base for the Costco Caramel Churro Sundae. Store-bought soft-serve or churned ice cream works well, but here are some substitutes for different needs:

Substitutes:

• Frozen Yogurt: For a slightly tangier and lighter option, replace the vanilla ice cream with frozen yogurt. A vanilla-flavored Greek yogurt-based variety works best for creaminess.
• Coconut Milk Ice Cream: For a dairy-free or vegan version, use vanilla coconut milk ice cream. It’s rich and pairs well with caramel and cinnamon. You could also use almond-, cashew-, or oat milk-based ice cream.
• Homemade Whipped Cream Base: If you don’t have time to buy or make ice cream: whip heavy cream, powdered sugar, and vanilla extract until stiff peaks form, then freeze it briefly to mimic a soft-serve consistency.
• Banana Nice Cream: For a healthy alternative, blend frozen ripe bananas with a splash of plant-based milk and vanilla extract until smooth. It’s creamy, naturally sweet, and a great base!

2. Churros

Churros are a highlight of this sundae, offering warm, crunchy, cinnamon-sugar-coated bites. If you don’t have the time or ingredients to make churros from scratch, here’s what you can use instead:

Substitutes:

• Store-Bought Churros: The easiest shortcut is to grab a pack of frozen churros from the grocery store, such as Goya or another trusted brand. Bake or fry them according to the package, then cut them into bite-sized pieces.
• French Toast Sticks: Crisp up pre-made French toast sticks with cinnamon sugar for a similar texture and flavor.
• Mini Donuts: Cinnamon sugar mini donuts make an excellent substitution, especially if you slice them into bite-sized pieces to mimic churros.
• Puff Pastry Sticks: Cut puff pastry into strips, bake them until crispy, and sprinkle with cinnamon sugar. They don’t have the exact bite of churros but mimic the flavor well.
• Biscotti or Cinnamon Cookies: For a less labor-intensive option, use store-bought cinnamon cookies or biscotti to provide a crunchy, cinnamon-forward element.

3. Salted Caramel Sauce

The salted caramel sauce ties the sundae together with its rich, buttery sweetness. If you aren’t up for making your caramel sauce from scratch or need a substitute, here are some ideas:

Substitutes:

• Store-Bought Caramel Sauce: This is the quickest and easiest option. Brands like Ghirardelli or Smucker’s produce great ready-to-use caramel sauces. Sprinkle in a pinch of sea salt if it’s not already salted.
• Dulce de Leche: Dulce de leche (a thick caramel sauce made from sweetened condensed milk) is an excellent substitution for caramel if you want a creamier, more buttery flavor.
• Maple Syrup: While it’s not identical, maple syrup adds sweet, rich flavors as a drizzle over your sundae.
• Chocolate Sauce or Ganache: If you don’t have caramel on hand, chocolate sauce or melted chocolate is a great swap. For extra decadence, you could combine a hint of sea salt with a drizzle of chocolate ganache.
• Honey or Agave Syrup: While they lack the buttery richness of caramel, honey or agave syrup can be used as sweet sticky toppings (especially for a healthier option).
• Apple Syrup or Butterscotch Sauce: If you want to explore different flavors, try an apple syrup (like Alabama apple syrup) or classic butterscotch for a sweet twist.

4. Cinnamon Sugar Coating

The cinnamon sugar coating is what makes churros iconic. However, this can also be varied depending on your taste and dietary preferences.

Substitutes:

• Brown Sugar and Cinnamon: If you’re out of granulated sugar, brown sugar works just as well, giving the churros a slightly molasses-like richness.
• Coconut Sugar: Coconut sugar is a healthier, low-glycemic substitute that pairs beautifully with cinnamon and provides a caramelized flavor.
• Stevia or Monk Fruit Sweetener Blend: If you want to make the recipe sugar-free, use a 1:1 granular sugar substitute like a Stevia or monk fruit erythritol blend. Mix it with cinnamon for the same effect.
• Spiced Sugar: Combine cinnamon sugar with nutmeg, ground cloves, or pumpkin spice for an autumnal, spiced twist.

5. Frying Oil for Churros

Churros are traditionally deep-fried in vegetable oil, but you can adjust the oil based on availability or preference.

Substitutes:

• Canola Oil: Canola is an excellent alternative—it’s neutral in flavor with a high smoke point, just like vegetable oil.
• Peanut Oil: If you want extra crispness and don’t have peanut allergies in the family, peanut oil works perfectly.
• Coconut Oil: Coconut oil gives a subtle coconut flavor that can pair beautifully with the churros’ cinnamon sweetness. However, it’s not ideal for high frying temperatures, so stick to shallow frying or baking.
• Air Fryer or Oven Bake: Skip the oil completely by air frying or baking the churro dough. With an air fryer set to about 375°F (190°C), you’ll achieve a satisfyingly crispy texture without the need for deep frying.

Final Thoughts

The reason to serve additional items with Costco Caramel Churro Sundae is simple: dessert is all about balance and indulgence! 

More Costco Recipes:

• Homemade Costco Corned Beef Brisket Recipe
• Copycat Costco Mint Chocolate Sundae Recipe