There are
329 mi
from St Cloud, MN to Waunakee, WI
That's the driving distance. It would take 6 hours 4 mins to go from St Cloud, Minnesota to Waunakee, Wisconsin.
The flight distance (direct flight from St Cloud, MN to Waunakee, WI) is 284.13 mi.
329 mi = 528.96 kms