To make cinnamon sugar mix all ingredients in a shallow pan and sit to the side.
In a pot over medium heat, combine water, sugar, salt, and butter and bring the mixture to a boil. In a bowl mix flour and chipotle seasoning together. Add flour mix and remove pan from heat. Stir with a wooden spoon until the mixture forms into a ball of dough. Transfer dough to another bowl and let cool for 5 minutes. Then add egg and vanilla mix for 1 minute. Transfer batter into a pastry bag with a star tip.
Fill another pot of oil half way to 350 degrees. Once hot pipe 4-inch length churro into oil cutting off with clean scissors. Fry churros 2 minutes per side make sure it’s brown on both sides. Drain on a paper towel lined baking sheet for 1 minute before rolling in cinnamon sugar, sit to the side.
To make cajeta, heat a large pot over medium high heat, add milk and sugar and bring to a boil, stir constantly to keep from burning.
In a bowl mix baking soda and water. In a large pot, add milk, sugar and cinnamon stick bring to a boil. Remove pot from heat, stir in baking soda, it will begin to foam, place back over heat and reduce heat to medium, cook for 30-40 minutes stir constantly until it has gotten thicker and turned caramel brown. As you notice it begin to thicken remove cinnamon stick. Once color is achieved, remove from heat and add vanilla and salt. Cajeta will thicken more as it cools, so don’t let it get too thick in the pot. Serve on the side with churros.