Make the dough on the stovetop: In a medium saucepan, combine water, butter, sugar, and salt. Heat over medium-high until the mixture comes to a boil and the butter is fully melted. Immediately reduce the heat to low and stir in the flour all at once.

Stir until smooth: Using a wooden spoon or rubber spatula, stir vigorously until the dough pulls away from the sides and forms a smooth ball. This only takes about a minute or two.

Cool the dough slightly: Let the dough cool for 5–10 minutes. This helps ensure you don’t scramble the eggs when adding them.

Add eggs and vanilla: Once cooled, mix in the eggs one at a time, stirring well after each addition until the dough becomes glossy and thick. Add the vanilla and mix again. The final dough will be sticky and pipeable.

Heat the oil: Pour about 2 inches of vegetable oil into a heavy-bottomed pot. Heat it over medium to 350°F. Use a thermometer to keep the oil steady for best results.

Pipe and fry: Transfer the dough to a piping bag fitted with a large star tip. Pipe 1-inch sections directly into the hot oil, cutting each bite with scissors. Fry in batches until golden brown, about 2–3 minutes per side.

Coat in cinnamon sugar: Immediately toss the hot churro bites in your prepared cinnamon-sugar mixture. Serve warm, with your favorite dips.