Add the milk, butter, sugar and, salt to a large saucepan. Bring to a boil over medium-high heat. Add flour, reduce heat to medium-low and cook and stir constantly with a rubber spatula until the mixture comes together and is smooth. Allow mixture to cool for a few minutes. Add vanilla and eggs to the flour mixture and stir until the mixture has a smooth consistency.
Heat oil in a large pot or deep skillet over medium-high heat to 350º Fahrenheit on the stovetop.
Transfer churro dough to a 16-inch piping bag fitted with a ½ inch rounded star tip.
Carefully pipe mixture into preheated oil, into about 6-inch lengths, cut end with clean scissors. Fry until golden brown, about 2 minutes per side. Transfer to a paper towel-lined plate to dry briefly then transfer to cinnamon-sugar mixture and roll to coat.
Repeat the process with the remaining dough. Serve warm with chocolate sauce and salted caramel. Enjoy!
Sugar Coating:
Whisk together sugar and cinnamon in a shallow dish.
Chocolate Sauce:
Place the chocolate in a glass or metal bowl.
Combine the cream and corn syrup in a small heavy non-reactive saucepan and bring to a simmer. Pour the liquid over the chocolate and allow it to sit for 3 to 4 minutes, or until the chocolate has melted. Whisk to combine. Allow the sauce to cool slightly.
Salted Caramel:
Heat granulated sugar in a medium saucepan over medium heat, stirring constantly with a rubber spatula or wooden spoon. Sugar will form clumps and eventually melt into a thick brown, amber-colored liquid as you continue to stir. Be careful not to burn.
Once sugar is completely melted, immediately add the butter. Be careful in this step because the caramel will bubble rapidly when the butter is added.
Stir the butter into the caramel until it is completely melted, about 2 minutes. If you notice the butter separating, remove it from heat and vigorously whisk to combine it again.
Slowly pour in heavy cream while stirring. Since the heavy cream is colder than the caramel, the mixture will rapidly bubble when added. Allow the mixture to boil for 1 minute. It will rise in the pan as it boils.
Remove from heat and stir in 1 teaspoon of salt. Allow to slightly cool down before using.
