Add water, butter, vanilla extract, salt, and cardamom to a pot over medium-high heat.
Bring to a boil, add flour, and mix until incorporated. You should be left with a very dense dough.
Remove from heat, add the egg, and mix to incorporate. Transfer your dough to a piping bag. If you don't have one, use a plastic bag with the corner cut off.
Add enough oil to fill the bottom third of your pan and bring it to a boil over medium-high heat. Once the oil is boiling, pipe lines of dough, roughly 4-5 inches long, into the hot oil to deep fry for 4-6 minutes.
Remove them when they are crispy and golden brown, and place them on a paper towel-lined plate to absorb excess grease.
In a shallow bowl or plate, add sugar and cinnamon. Stir to combine.
One by one, place your churros into the cinnamon sugar mixture and thoroughly coat the outside.
Serve with some caramel dipping sauce, and enjoy!
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Notes
It's essential to achieve the right churro dough consistency. It should be smooth, thick, and hold shape without being too sticky. Adjust the amount of flour or water as needed to get the ideal consistency.
When piping the churro dough, use a star-shaped piping tip to get the classic ridged appearance. Pipe the dough directly into the hot oil using scissors or a knife to cut the dough at the desired length.
Avoid overcrowding the frying pan which can lead to uneven cooking and temperature drops. Fry churros in small batches to ensure consistent results.
Roll the freshly fried churros in the cinnamon sugar while they're still warm. This helps it stick to the churro, giving it its signature flavor.