On a small plate, mix ½ cup sugar with cinnamon, and set aside. Line rimmed baking sheets with parchment paper or a baking mat and, in a shallow dish, add the granulated sugar and Set aside.
In a medium nonstick saucepan over medium heat, combine water, milk, unsalted butter, sugar, and salt. Cover and bring to a boil.
Stir in the flour, mix vigorously with a wooden spoon until it forms a smooth dough, and pull away from the pan for about 2 to 5 minutes. Next, stir in the orange zest and pure vanilla extract; continue mixing until there are no flour bits left and all the ingredients are well incorporated.
Spoon mixture to a churro maker or a large pastry bag fitted with a large star tip or a similar device for preparing orange churros.*(You must work fast and don’t let the dough get cool).
Pipe the batter into 5-6 inches lengths about 2 inches apart on the prepared baking sheets (the warmer the dough, the easier it to manipulate when squeezing/pipping the dough).
When the oil reaches 350° F, gently drop a few orange churros in the hot oil and fry until golden brown and crisp. Once cooked, remove them from the oil and immediately place them in the sugar mixture bowl; roll each fried pastry dough to coat with the sugar mixture fully.
Repeat frying 3 to 4 strips of dough at a time. (about 4 to 5 minutes) * Make sure you keep turning the orange churros so they can cook evenly.