Micah Leon Manners, 36, of Jackie Smart Court, Chapeltown, will appear at Leeds Magistrates Court on November 10.
The incident took place in the car park of the Lidl supermarket on Amberton Road, Gipton, on June 29, 2019.
The victims were a woman and her two-year-old son, who suffered skin irritation but were not seriously hurt.
The liquid was tested and identified as anti-freeze - which is used in vehicles to prevent engines freezing and is readily available to buy - at the time but no arrests were made in the immediate aftermath.
Manners has been charged by postal requisition with two counts of administering a noxious substance with intent to injure, aggrieve or annoy in relation to an incident.