Place a medium sized cooking pot over the stove top and turn the temperature on to medium heat.
Gather all your ingredients, measure everything then set aside
Pour in milk, water, salt, vanilla extract and butter. Allow the butter to melt completely before moving onto step three.
Once the butter has melted, add in one cup of all purpose flour. Using a cooking spoon or spatula mix the batter until a smooth dough is formed.
Remove the pot off the stove and one at a time add in the eggs. After adding each egg, mix the batter with a handheld mixer before adding the next egg. And repeat the process until all four eggs have been combined.
Pour oil into a deep pot and place on the stove top and turn the element on to medium heat. Allow the oil to slowly heat up.
Take a small piece of the churro batter and place it into the hot oil. If the small churro batter sizzles the oil is ready.
Take the piping bag and add an open star tip to the bag, then transfer the churro batter to the piping bag.
Now, here you can have fun. You can either pipe about 6" length of the churro batter into the hot oil OR you can do what I did and create a small ring or heart shape churros.
Fry the churros in the hot oil for about two minutes or so on each side or until both sides are golden brown.
Using the tongs, take the cooked churros out of the hot oil and place them into the cinnamon and sugar bowl, making sure to coat the entire churro.
Remove the churros from the cinnamon and sugar bowl and place them on top of the paper towel to drain any excess oil.