This paper proposes the use of linear-assisted switching power converters in the context of single-inductor dual-output (SIDO) applications. By combining a DC/DC ripplecontrolled switching power converter with the respective voltage linear regulators at each output, improved performance in terms of load and line regulations is obtained. To achieve that aim, a current-steering switching policy is proposed, together with a resource-aware circuit implementation. The ripple-based hysteretic control results in variable switching frequency to guarantee critical conduction mode (boundary of CCM and DCM).