Prepare the Dough:

In a medium saucepan, combine the water, butter, maple syrup, sugar, and salt. Heat over medium heat until the butter is melted and the mixture comes to a simmer. Add the flour all at once, stirring vigorously until the dough pulls away from the sides of the pan. Remove from heat and let the dough cool for about 5 minutes.

Add Egg and Vanilla:

Once the dough has cooled slightly, add the egg and vanilla extract. Mix until smooth and the egg is fully incorporated.

Heat the Oil:

Heat vegetable oil in a deep frying pan or pot to 375°F (190°C).

Pipe the Churros:

Transfer the dough to a piping bag fitted with a star tip. Pipe 4–5-inch strips of dough into the hot oil, cutting them with scissors. Fry 3–4 churros at a time for 2–3 minutes per side, or until golden brown and crispy.

Coat the Churros:

In a small bowl, combine the sugar and cinnamon. As soon as the churros are done frying, remove them from the oil and toss them in the cinnamon-sugar mixture while they’re still warm.

Prepare the Maple Glaze:

In a small bowl, whisk together the powdered sugar, maple syrup, and vanilla extract until smooth and creamy.

Glaze the Churros:

Drizzle or dip the cinnamon-sugar-coated churros in the maple glaze for an extra layer of sweetness.

Serve and Enjoy:

Serve the Maple Churros warm for a deliciously sweet treat!