In a medium saucepan, mix the water, butter, granulated sugar, and salt. Bring it to a boil over medium heat.

Once boiling, remove the saucepan from heat and stir in the flour. Mix until the dough forms a ball, then let it cool for a few minutes.

Add the eggs one at a time, ensuring they are fully mixed in after each addition. Stir in the vanilla extract until the dough is smooth.

If using store-bought caramel sauce, warm it slightly to make it easier to fill your churros.

In a deep pot or fryer, heat the oil to 350°F (175°C).

Transfer the churro dough into a piping bag fitted with a large star tip. Pipe small rounds onto parchment paper.

Carefully drop the piped dough into the hot oil, frying in batches until they're golden brown—about 2-3 minutes per side.

Once the churro bites are cool enough to handle, use a small piping tip to poke a hole in each one and fill them with caramel sauce.

In a shallow bowl, combine the granulated sugar and ground cinnamon.

Roll each filled churro bite in the cinnamon sugar mixture.

Serve these warm Caramel Stuffed Churro Bites to your family and friends.