Dulce de Leche Churros

Make Dulce de Leche 

1. Place can of sweetened condensed milk in medium saucepan of water. Simmer over medium-low heat for 3 hours, ensuring can is always submerged. (You can top it with a plate or meat weight.)
2. Remove from heat and allow to cool. Open can with can opener and scoop into bowl for dipping.

Make Churros

1. In small saucepan, combine milk, butter, sugar and salt. Bring to rapid simmer over medium heat. Reduce heat to medium-low, then add flour and stir until paste forms and skin develops on bottom of pot. Remove from heat and set aside to cool.
2. Add eggs one at a time, mixing well after each addition. Continue mixing until smooth paste forms. Stir in vanilla. Transfer churro paste to piping bag fitted with open star tip.
3. Pour oil into deep fryer or deep saucepan and heat to 350°F. Carefully pipe churros into pan, taking care not to splash hot oil. Use scissors to cut dough at desired length. Work in batches to avoid overcrowding. Deep-fry for 3 to 4 minutes, until golden brown. Transfer to paper towel-lined plate.

Make Cinnamon Sugar

1. Combine all ingredients in medium bowl.

Assemble

1. Roll churros in Cinnamon Sugar until well coated. Serve warm with Dulce de Leche.