Begin by preheating your oven to 375°F (190°C). Line a baking sheet with parchment paper for easy cleanup and to prevent sticking.
In a large mixing bowl, combine the all-purpose flour, 1/4 cup granulated sugar, baking powder, salt, and 1/2 teaspoon ground cinnamon. Whisk them together thoroughly to ensure there are no lumps.
In a medium bowl, mix together the melted unsalted butter, milk, and vanilla extract until the mixture is smooth and homogeneous.
Slowly pour the wet mixture into the dry ingredients, stirring gently. Continue to mix until everything is just combined; be cautious not to overmix. The batter should be thick yet pourable.
Prepare to pipe the dough by using a piping bag or a zip-top bag with one corner delicately snipped off. Pipe out small mounds of dough, each about 1 inch in diameter, onto the lined baking sheet. Maintain a space of approximately 2 inches between each mound to allow for spreading.
Place the baking sheet in the preheated oven, and bake for 15-18 minutes, or until the churro bites are lightly golden brown on the outside and cooked through.
While the churro bites are baking, prepare the cinnamon sugar coating. In a shallow dish, mix together the remaining 1/4 cup granulated sugar and 1 teaspoon ground cinnamon until well combined.
Upon removing the churro bites from the oven, allow them to cool for a few minutes on the baking sheet. While they are still warm, generously roll each bite in the cinnamon sugar mixture, ensuring they are fully coated for that signature churro flavor.
Serve the churro bites warm for the best taste, and enjoy this delightful treat!
Notes
Serve warm with chocolate or caramel sauce for dipping.