Bring to a boil water, butter, sugar, vanilla, and salt. Remove from heat and stir in flour. Once incorporated, cook for an minute on the stove. Transfer to a pastry bowl. Pipe out over greased squared parchment using a large open star pastry tip.
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In a sautoir or Dutch oven, heat up 2''/5cm deep frying oil to 375ºF. Grab parchment and carefully, immerse each churro in the oil. Fry until golden brown – coat in cinnamon sugar. Serve warm. Enjoy!