- 1
Bring the water, butter, and 1 Tbsp. of the sugar to a simmer in a small saucepan over medium-high heat. Add the flour and quickly stir it in with a sturdy wooden spoon. Continue to cook, stirring constantly, until the flour smells toasted and the mixture is thick, about 3 minutes. Transfer to a large bowl.
- 2
Using the same wooden spoon, beat the flour mixture until cooled slightly but still warm, about 1 minute of constant stirring. Stir in the vanilla. Stir in the eggs one at a time, making sure each egg is incorporated before adding the next.
- 3
Transfer the dough to a piping bag or gallon zip-top bag. Let the dough rest for 1 hour at room temperature. Meanwhile, prepare the cinnamon sugar and chocolate sauce.
- 4
Combine the cinnamon and remaining ½ cup sugar in large bowl. Set aside. Microwave the chocolate in a medium microwave-safe mixing bowl in 30-second intervals, stirring between each, until the chocolate is melted. Add the yogurt and whisk until smooth. Cover and set aside.
- 5
Preheat the air fryer to 375°F. Pipe the batter directly into the preheated air fryer, making 6 (3-inch) pieces and piping them at least ½-inch apart. Air fry until golden-brown, about 8-10 minutes. Immediately transfer the churros to the bowl of cinnamon sugar and toss to coat. Repeat with air frying the remaining batter. Serve the churros warm with the dipping sauce.
