In a saucepan, combine water, sugar, and salt. Bring to a boil over medium heat.
Remove from heat and stir in vanilla extract.
Gradually add flour, stirring until a smooth dough forms.
Allow the dough to cool for a few minutes.
Beat in eggs one at a time until fully incorporated.
Heat oil in a deep frying pan to 375°F (190°C).
Transfer dough to a piping bag fitted with a star tip.
Pipe 4-6 inch strips of dough into the hot oil.
Fry until golden brown, about 2-3 minutes per side.
Remove churros from oil and drain on paper towels, then dust with sugar.