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In a small pot place milk, salt, vanilla extract, sugar and butter and heat to a strong boil. Make sure that all the butter is fully melted.
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Once the mixture is boiling, remove from the heat and add the flour at once.
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Using a wooden spoon, mix the mixture until smooth and uniform dough is formed, separating from the sides of the pot.
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Return to the heat and continue to cook for about 1-2 minutes while mixing.
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Transfer the dough to a mixer bowl with a paddle attachment and whip for 2-3 minutes until it cools slightly.
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Add half of the beaten eggs mixture and continue to whisk at medium speed. The dough will look as if it is falling apart, but it quickly returns to its optimal state.
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Continue to add the eggs gradually until the mixture is flexible and ready. Check whether the dough is ready to pipe by creating a long “line” in it – if it closes in about 1-2 seconds – it’s ready. If it sticks – you need to add a bit more eggs.
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When the dough is ready, transfer to a piping bag fitted with a 2 cm serrated piping tip.
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Meanwhile, heat oil in a wide pot until it reaches a temperature of 170-180 Celsius degrees.
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Drip strips of dough gently into the boiling oil. It is important not to overload the frying pan so that the oil temperature does not drop. 4-5 churros at a time is just fine.
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After turning golden-brown on both sides take the churros out of the pan and place on a paper bag to absorb excess oil.
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Mix sugar with a little cinnamon, and roll the warm churros in the sugar mixture.