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Preheat the oven at 200 degrees Celsius and line a baking tray with parchment paper.
In a saucepan set over medium heat, add water along with butter, sugar and milk.
Once it comes to a boil, take it off heat and add in the flour while mixing continuously. Cook it again for 2-3 mins until the dough comes together and forms a film on the bottom of the saucepan.
Let the dough cool and come to room temperature. Transfer it to a piping bag fitted with a closed star nozzle.
Pipe churros about 3 inches long on a baking tray lined with parchment paper. Use scissors to cut the dough neatly. Brush them with very little oil on all sides.
Bake the churros for 40 mins or until nicely golden brown.
Toss them in cinnamon sugar and enjoy!