Preheat your oven to 375°F (190°C) and line a baking sheet with parchment paper. In a medium bowl, whisk together the flour, 2 tablespoons of sugar, baking powder, and salt.

In a separate small bowl, combine the milk, vegetable oil, and vanilla extract. Pour these wet ingredients into the dry mixture and stir until just combined, forming a soft dough.

Roll the dough into small, bite-sized pieces or logs, approximately 1 inch long. Arrange them in a single layer on the prepared baking sheet.

Bake for 10-12 minutes, or until the churro bites are lightly golden brown and cooked through. While they bake, prepare the cinnamon sugar coating.

In a shallow dish, combine 1/4 cup of granulated sugar and the ground cinnamon. Immediately after baking, toss the warm churro bites in this cinnamon sugar mixture until they are evenly coated.

Serve your healthy baked churro bites warm and enjoy this delightful treat.