Let
X,
Y be nonsingular real algebraic sets. A map
\varphi \colon X \to Y is said to be
k-regulous, where
k is a nonnegative integer, if it is of class
\mathcal {C}^k and the restriction of
\varphi to some Zariski open dense subset of
X is a regular map. Assuming that
Y is uniformly rational, and
k \geq 1, we prove that a
\mathcal {C}^{\infty } map
f \colon X \to Y can be approximated by
k-regulous maps in the
\mathcal {C}^k topology if and only if
f is homotopic to a
k-regulous map. The class of uniformly rational real algebraic varieties includes spheres, Grassmannians and rational nonsingular surfaces, and is stable under blowing up nonsingular centers. Furthermore, taking
Y=\mathbb {S}^p (the unit
p-dimensional sphere), we obtain several new results on approximation of
\mathcal {C}^{\infty } maps from
X into
\mathbb {S}^p by
k-regulous maps in the
\mathcal {C}^k topology, for
k \geq 0.