Stoke will face Manchester City in the final after Walters scored twice, with the other goals coming from Matthew Etherington, Robert Huth and Kenwyne Jones.
Walters told ESPN: "We wanted to achieve something this year. It was a tough game but we did really well from back to front. I'm made up to be quite honest.
"It's been very hard over the years but a lot of people have helped me along the way."
Source: PA
Source: PA