In a saucepan, bring the water, butter, sugar, and salt to a boil. Remove from heat.
Add the flour all at once and stir vigorously until the dough comes together and pulls away from the sides of the pot.
Let the dough cool slightly, then beat in the eggs one at a time until you have a smooth and glossy batter.
Transfer the dough to a piping bag fitted with a star tip. Heat the oil to approximately 350°F (180°C).
Pipe lengths of dough, about 4-6 inches (10-15 cm) long, into the hot oil. Fry for 2-3 minutes, until golden brown, turning occasionally.
Remove the churros and place them on paper towels to drain excess oil.
Toss the churros in cinnamon sugar to coat.
Melt the dark chocolate with the heavy cream in a small saucepan over low heat until smooth and silky.
Serve the churros warm, with the chocolate sauce for dipping.
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