The ever-increasing volumes of food waste generated and the associated environmental issues require the development of new processing methods for these difficult waste streams. One of the technologies that can treat these waste streams directly is hydrothermal carbonization. In this work, olive pomace and orange peels were treated via a mild hydrothermal carbonization process (TORWASH®) in a continuous-flow pilot plant. For olive pomace, a solid yield of 46 wt% and a dry matter content of 58% for the solid press cakes were obtained during continuous operation for 18 days. For orange peels, the values were lower with 31 wt% solid yield and a 42% dry matter content during 28 days of continuous operation. These values corresponded fully with initial laboratory-scale batch experiments, showing the successful transformation from batch to continuous processing. The obtained hydrochar from both feedstocks showed an increase in higher heating value (HHV) and a significant reduction in ash content. Pellets produced from the solids met the requirements for industrial use, demonstrating a large increase in the deformation temperature and a significant reduction in the potassium and chlorine content compared to the original feedstock. These results indicate the excellent potential of these pellets for combustion applications.