In a saucepan over medium heat, combine water, butter, brown sugar, and a pinch of salt. Bring to a simmer, stirring occasionally, about 3-5 minutes. Remove from heat and add flour, stirring until a sticky dough forms.

Allow the dough to cool in the saucepan for about 10 minutes; stir in vanilla extract. Add eggs one at a time, mixing well until the dough is smooth and glossy.

Preheat your oven to 425°F (220°C). Line baking sheets with parchment paper to prevent sticking.

Transfer the dough to a piping bag fitted with a large star tip and pipe 3-4 inch long ropes onto the prepared baking sheets, spacing them apart.

Lightly spray piped churro bites with cooking oil and mist with water to create a crispy outer layer.

Bake for 20-25 minutes, or until puffed and golden brown; check them during the last minutes of baking.

Turn off the oven and let churro bites rest inside with the door slightly ajar for about 10 minutes.

Brush with melted butter and toss in cinnamon sugar until fully coated.