Step 1

Preheat oven to 375 degrees F. Line a rimmed baking sheet with parchment paper or a baking mat.

Step 2

Combine water, butter, brown sugar and salt in a medium saucepan. Cook over medium-high heat until the butter is melted and the mixture starts to boil. Remove from heat. Using a wooden spoon, stir in flour until completely incorporated and the mixture starts to pull away from the sides of the pan. Let cool for 5 minutes.

Step 3

Whisk eggs and vanilla in a small bowl. Add to the dough and stir until completely incorporated. Transfer the dough to a pastry bag fitted with a 3/4-inch open-star tip. (Alternatively, if using a 1-quart sealable plastic bag, fill it with dough and seal almost completely, leaving a small opening for air to escape from the top as you squeeze. Snip off a bottom corner, making a 3/4-inch-wide opening.) Pipe the dough onto the prepared baking sheet to make 12 churros, each 4 inches long.

Step 4

Bake the churros, turning once halfway, until puffed and browned, 25 to 30 minutes.

Step 5

Combine sugar and cinnamon on a shallow plate. Roll the hot churros in the mixture and transfer to a wire rack to cool for 10 minutes.