Place a medium saucepan over medium heat and add the water, butter, light brown sugar, salt, and cinnamon and mix well. When the mixture starts to boil stir in the flour and stir vigorously until the combined ingredients come together in the saucepan.
Transfer the skillet to the cool side of the stovetop and allow the mixture to cool for 8-minutes, then add the pure vanilla extract and stir in one egg at a time until the eggs have been fully incorporated into the pastry dough.
Fill a pastry bag or large plastic bag with a quarter-inch hole cut in the corner with the churro dough.
Allow the churro maker to get hot or if you're frying the churros add.
Spray a non-stick churro maker with coconut oil (or a non-stick cooking spray of your choice) and pipe the churro dough into each grate.
Cook the churros until golden brown.
Remove the cooked churros from the churro maker.
Roll each churro in the sugar and cinnamon mixture.
Serve with chocolate sauce, salted caramel, or blueberry and agave sauce.