Matt Hill’s side, who have enjoyed a solid season in the Northern Premier League Premier Division, reached the final with a 2-0 win.
The crowd of 608 at Marston Road was the largest for a home Staffordshire Senior Cup tie since a 2-0 win over Tamworth in January 1989.
Joe Dunne and Tom Tonks scored in either half as Stafford saw off a youthful side from their EFL neighbours.
Fellow NPL side Leek Town missed out on meeting them in the final at Burton Albion’s Pirelli Stadium on May 4.
Leek were beaten 8-7 on penalties by Stone Old Alleynians after a 1-1 draw.
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