Preheat oven to 400°F. Stack two baking sheets on top of each other to protect the delicate churros. Make two sets of stacked sheet pans and line the top of each stack with parchment paper.
Pour topping mix into a medium bowl and set aside. Place water and butter into a large saucepan. Bring to a boil, add churro mix and reduce heat. Cook over medium-low heat stirring constantly with a wooden spoon until mixture forms into a smooth ball.
Transfer dough into a mixer bowl and allow to cool 5 minutes. Add eggs one at a time and mix on medium speed until dough comes together and forms a smooth ball.
Spoon dough into provided piping bag. Pipe mixture onto prepared baking sheets in 5 – 6 inch lengths, leaving about 2 inches between each.
Bake about 25 minutes, or until golden brown. Turn off oven heat, but allow churros to stand in oven another 5 minutes.
Remove from oven. Spray each churro lightly with cooking spray then roll in cinnamon sugar topping. Serve warm.