Step 1

For the caramel sauce: Add the milk, 1 can condensed milk, cream and then the remaining can condensed milk to a blender. Add the salt. Blend, starting on low and going all the way up to high, until smooth. Pour into a serving dish.

Step 2

For the cinnamon sugar: Add the granulated sugar, brown sugar, cinnamon and sea salt to a shallow dish and mix together, breaking up any clumps with your fingers.

Step 3

For the churros: In a medium saucepan over medium high heat, combine water, butter, salt, and sugar and bring to a boil. Add the flour and mix vigorously with a wooden spoon until mixture is the consistency of an elastic paste.

Step 4

Add the hot mixture to the bowl of a stand mixer fitted with a paddle attachment and allow to cool to room temperature (do not refrigerate) for about 5 minutes.

Step 5

Meanwhile, fill a Dutch oven with oil to come about 3 to 4 inches up the sides. Heat to 375 degrees F.

Step 6

Turn the mixer on medium-low speed and add the eggs one at a time. Transfer dough to a piping bag. Pipe the dough in 3-inch pieces into the preheated oil. Fry until golden brown, 3 to 4 minutes. Drain on a paper towel-lined sheet tray and toss churros in the cinnamon sugar while they're still very warm. Serve churros in small waxed parchment bags with caramel sauce on the side.