Preheat the oven to 350°F. Line two cookie sheets with parchment paper or silicone baking mats. Set aside.
Place water, vanilla, salt, butter, and brown sugar in a large saucepan. Bring to a rolling boil over medium heat, stirring occasionally.
1 cup water, 1 teaspoon vanilla extract, ¼ teaspoon kosher salt, 3 tablespoons unsalted butter, 2 tablespoons brown sugar
Stir in the flour all at once (this ensures crispy churros!) and remove from the heat.
1 cup all-purpose flour
Continue mixing vigorously with a wooden spoon until a thick paste forms. Let mixture sit for 1 minute.
Add eggs, one at a time, mixing well after each addition (work fast here to avoid scrambling the eggs!).
2 large eggs
It’ll seem like the mixture isn’t coming together at first, but keep mixing until the ingredients are well combined and you have a smooth soft dough that comes away from the sides of the pot. This may take a few minutes so be patient and rest your arm as needed!
Place the churro batter in a large pastry bag fitted with a star tip, squeezing out as many air bubbles as possible.
Alternatively, place batter into a large ziplock bag with the tip cut off.
Pipe 6-inch (15 cm) churros onto the cookie sheets, cutting the ends with kitchen shears or a sharp knife.
Gently brush the churros with melted butter.
2 tablespoons butter
Bake for 30-35 minutes (depending on size), rotating pans halfway through baking, until churros are baked through and lightly golden.
Cool slightly on pans.
Meanwhile, melt remaining ½ cup butter in a medium sized, shallow bowl.
½ cup butter
Stir together the sugar and cinnamon in a separate bowl.
½ cup granulated sugar, 1 tablespoon ground cinnamon
Dredge the churros in the butter then sprinkle with the cinnamon sugar. Serve immediately with dulce de leche, salted caramel sauce, or hot chocolate sauce for dipping or drizzling.