Step 1: Prepare the Dough
In a saucepan, combine the water, butter, sugar, and salt.
Bring the mixture to a boil over medium heat.
Step 2: Add the Flour
Reduce the heat slightly and stir in the flour all at once.
Mix continuously until a smooth dough forms and pulls away from the sides of the pan.
Remove from heat and let cool for about 5 minutes.
Step 3: Add Eggs
Add the eggs one at a time, mixing thoroughly after each addition until smooth.
Stir in the vanilla extract if using.
Step 4: Pipe the Churros
Transfer the dough to a piping bag fitted with a large star tip.
Pipe 1–2 inch churros onto parchment paper, cutting the dough with scissors.
Step 5: Fry the Churros
Heat vegetable oil in a deep pot to 350°F (175°C).
Carefully place the churros into the hot oil.
Fry for 2–3 minutes per side until golden brown and crispy.
Step 6: Coat in Cinnamon Sugar
Remove the churros and drain on paper towels.
Immediately toss them in the cinnamon sugar mixture while still warm.
Step 7: Serve
Serve warm with Nutella, melted chocolate, or caramel sauce for dipping.