Step 1: Preheat your oven to 350°F (175°C) and line a baking sheet with parchment paper.
Step 2: In a large bowl, whisk together the flour, baking powder, salt, and ground cinnamon.
Step 3: In another bowl, melt the unsalted butter and let it cool slightly. Add the egg, milk, and vanilla extract, whisking until well combined.
Step 4: Pour the wet ingredients into the dry ingredients and stir gently until just combined.
Step 5: Portion out the dough and roll into bite-sized balls (about 1 inch in diameter). Place on the prepared baking sheet.
Step 6: Bake for 12-15 minutes until lightly golden and cooked through.
Step 7: Prepare the cinnamon sugar by combining granulated sugar and ground cinnamon in a shallow dish. Roll the churro bites in the mixture after baking.
Step 8: Allow to cool slightly on a wire rack before serving.
Notes
Store leftovers in an airtight container at room temperature for up to 2 days or refrigerate for up to a week.