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Crispy churros filled with creamy goat's milk caramel take this classic to the next level. This indulgent dessert is a family favorite that blends crunchy and creamy textures beautifully.
In a medium saucepan over medium heat, combine water, butter, salt, and bring to a gentle boil, stirring until butter melts fully.
Lower heat to medium-low and add flour all at once; quickly stir with a wooden spoon until the dough forms and pulls away from the pan, about 2 minutes.
Off heat, let dough cool for 4 minutes, then beat in eggs one at a time, mixing vigorously until smooth and glossy—key for proper churro structure.
Heat vegetable oil in a deep pan to 350°F; transfer dough to a piping bag fitted with a large star tip for traditional ridges.
Pipe 6-inch lengths of dough directly into hot oil, frying 2–3 at a time for 2–3 minutes per side until golden and crisp; maintain oil temperature to avoid soggy churros.
Drain on paper towels, then while warm, roll churros in cinnamon-sugar mixture to coat evenly.
Once slightly cooled, use a chopstick or small knife to create a cavity through the center of each churro.
Fill a piping bag with cajeta and pipe it generously into each churro for rich, creamy filling.
Serve immediately for best texture, ensuring the outside stays crisp and inside remains gooey.
