Preheat the oven to 350°F/175°C. Spray or brush a donut pan with oil.
Whisk the flour, sugar, baking powder and cinnamon together in a mixing bowl.
In a small bow, whisk the milk, melted butter, egg and vanilla, then pour into the bowl of dry ingredients. Stir until combined, but don’t overbeat.
Spoon the mixture into the donut pan, then bake for 10 minutes or until golden and cooked through.
Leave the donuts in the pan for a minute or two, then transfer to a wire rack to cool completely.
For the churro coating
Meanwhile, stir the sugar and cinnamon together and place into a shallow bowl.
Melt the butter for the topping.
When the donuts are cold, brush them with melted butter on one side, then dip in the cinnamon sugar.
For the chocolate dipping sauce
Melt the chocolate chips, then beat into the cream. Or serve with Nutella.
**You will need a donut pan
Let the donuts cool before removing them from the pan, this will help keep them from crumbling while they are still hot.
If melting chocolate chips in the microwave, make sure you are melting in 30 second intervals to prevent the chocolate from burning.
It’s important that the donut pan is greased fully to prevent the donuts from sticking.
Donuts should be topped with churro topping AFTER they are baked and fully cooled or the sugar will melt into them.
If you don’t have a donut pan, you can cook them in a muffin pan, just check and adjust the cooking time as needed.
Storing: These churro donuts can be stored in an airtight container on the counter for up to 4 days. If they start to become a bit dry as the days go on, warm them in the microwave for 15 second intervals.Freezing: You can freeze cooked and cooled churros donuts in a sealed freezer bag for up to 3 months. Let them thaw on the countertop when they are ready to use.