In a medium saucepan, combine water, unsalted butter, granulated sugar, and salt. Heat over medium until boiling, about 5–7 minutes.

Once boiling, remove from heat and stir in all-purpose flour until the dough forms a ball and pulls away from the sides, about 1–2 minutes.

Allow the dough to rest for 5 minutes. Then incorporate eggs one at a time, mixing thoroughly after each addition, and stir in vanilla extract.

Heat vegetable oil to 375°F (190°C) in a deep fryer or heavy pot.

Transfer the dough to a piping bag fitted with a large star tip. Pipe 4–6 inch strips of dough into the hot oil.

Fry the churros for 2–3 minutes on each side until golden brown. Remove from oil and drain on paper towels.

Toss warm churros in a mixture of granulated sugar and ground cinnamon.

Heat heavy cream over medium-low heat until simmering. Add chocolate chips and stir until melted and smooth.

Serve warm churros with chocolate dipping sauce.