"We were blown away to win it a second year in a row," Mr Muldoon said. "We'll definitely be back next year.
"We'll defend until we get too old."
The team trained three or four times a week for six weeks, using the Novotel stairwell and climbing it between 10 and 12 times.
"It's all thanks to Ed Judd (from Novotel). We knew what we were in for. It was good to get used to the heat."
A total of 750 firefighters, mostly from New Zealand, took part. The challenge raised more than $1 million for Leukaemia and Blood Cancer New Zealand.
It was a double celebration for the team. Mr Muldoon turned 49 on Saturday and Mr Gilbert had his birthday earlier in the week. They finished seventh and eighth in the masters category. Next year, they advance to the grand masters.
The Ngongotaha Volunteer Fire Brigade and Mamaku Fire Brigade also took part.