Creating perfect Baked Churro Bites is simple when you follow these steps:

1. Preheat the Oven: Preheat your oven to 350°F (175°C) and prepare a baking sheet by lining it with parchment paper.
2. Mix Dry Ingredients: In a large bowl, combine the flour, baking powder, salt, granulated sugar, and ground cinnamon.
3. Combine Wet Ingredients: In a separate bowl, whisk together the melted butter, milk, and vanilla extract until well mixed.
4. Combine Mixtures: Pour the wet ingredients into the dry ingredients, mixing until just combined. Be careful not to over-mix.
5. Form the Bites: Using a small cookie scoop or your hands, form small balls from the dough and place them evenly on the prepared baking sheet.
6. Bake: Bake in the preheated oven for about 15-20 minutes, or until golden brown.
7. Prepare Coating: While the churro bites are baking, mix the remaining granulated sugar and ground cinnamon in a bowl.
8. Coat the Bites: Once baked, remove them from the oven and allow them to cool slightly for a few minutes. Roll the warm churro bites in the cinnamon-sugar mixture until fully coated.
9. Serve: Transfer to a serving plate once all bites are coated.

Enjoy the aroma that fills your kitchen as these amazing Baked Churro Bites take shape!