We experimentally demonstrate a simple configuration for mid-infrared (MIR) frequency comb generation in quasi-phase-matched lithium niobate waveguides using the cascaded-χ(2) nonlinearity. With nanojoule-scale pulses from an Er:fiber laser, we observe octave-spanning supercontinuum in the near-infrared with dispersive wave generation in the 2.5-3 μm region and intrapulse difference frequency generation in the 4-5 μm region. By engineering the quasi-phase-matched grating profiles, tunable, narrowband MIR and broadband MIR spectra are both observed in this geometry. Finally, we perform numerical modeling using a nonlinear envelope equation, which shows good quantitative agreement with the experiment-and can be used to inform waveguide designs to tailor the MIR frequency combs. Our results identify a path to a simple single-branch approach to mid-infrared frequency comb generation in a compact platform using commercial Er:fiber technology.