Combine Ingredients: In a saucepan, bring water, unsalted butter, salt, and granulated sugar to a boil, then reduce heat.
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Add Flour: Stir in the all-purpose flour until it forms a cohesive ball, then let the dough cool slightly.
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Beat in Eggs: Incorporate eggs one at a time into the dough, ensuring they're well mixed after each addition. Add vanilla extract for flavor.
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Heat Oil: Preheat vegetable oil in a pot to 350°F, maintaining this temperature for frying.
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Prepare Piping Bag: Load the churro dough into a piping bag fitted with a large star tip for shaping.
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Pipe Dough: Pipe strips of dough into the hot oil, using scissors to cut them into desired lengths.
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Fry Until Golden: Fry the churros, turning once, until they achieve a golden brown color on all sides, typically 2-3 minutes per batch. Avoid overcrowding the pot.
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Drain Excess Oil: Place cooked churros on a paper towel-lined plate to drain excess oil.
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Prepare Cinnamon Sugar: Mix granulated sugar and ground cinnamon in a shallow dish for coating.
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Coat Churros: While still hot, roll the drained churros in the cinnamon sugar mixture until they are evenly coated.