There are great churros at the Cantina de San Angel in the Mexico pavilion at Epcot.
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While shoes must be worn, there is no specific footwear requirement for attractions within Walt Disney World Resort theme parks, although skates or shoes with wheels are prohibited. I have seen Guests wearing everything from basic flip-flops to stilettos.
Dole Whip in EpcotDole Whip can be found at the Refreshment Outpost at EPCOT. During the Flower and Garden Festival, it can be found at the Pineapple Promenade booth.
The churros are better at Disneyland because when you order you get them fresh. WDW churros are the same churros but they're made and then transported to the stands. So they lose their freshness after sitting there.
Dole Whip's Disney historyThe Disney-Dole collaboration dates back to 1976, when Dole Food Company's packaged foods division sponsored the Enchanted Tiki Room at Disneyland in California. The offerings: Dole pineapple juice and fresh pineapple spears.
For some foods, Disney buys ingredients (if not the entire food) from third-party sellers. The price they pay for those items will play a big part in determining the cost, as Disney wants to turn a profit.