Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper.
In a medium saucepan, combine water, unsalted butter, sugar, and salt, then bring the mixture to a boil over medium heat.
Once boiling, reduce the heat to low and add the flour all at once, stirring vigorously until a smooth dough forms. Remove the saucepan from heat and allow the dough to cool for about 10 minutes.
Add the vanilla extract and baking powder to the dough, then mix until well combined.
Transfer the dough into a piping bag fitted with a large star tip. Pipe small bite-sized churros (about 1-inch in length) onto the prepared baking sheet, leaving space between each piece.
Bake in the preheated oven for 15-20 minutes or until the churro bites are golden brown and puffed.
While the churros are baking, mix the granulated sugar with the ground cinnamon in a shallow bowl.
Once baked, remove the churro bites from the oven and allow to cool for a few minutes before rolling them in the cinnamon sugar mixture until fully coated.
Serve warm, optionally drizzled with chocolate sauce for extra indulgence.
Notes
Serve warm with optional chocolate sauce for drizzling.