01 - Preheat oven to 350°F and line a baking sheet with parchment paper.
02 - In a medium bowl, whisk together flour, baking powder, baking soda, salt, cinnamon, nutmeg, cloves, ginger, and cayenne pepper until evenly blended.
03 - In a large bowl, whisk pumpkin puree, granulated sugar, brown sugar, vegetable oil, eggs, and vanilla extract until smooth and well combined.
04 - Gradually add the dry mixture to the wet ingredients, mixing gently until just blended. Avoid overmixing for light texture.
05 - Transfer batter to a large piping bag fitted with a star tip, and pipe 4–5-inch strips directly onto the prepared baking sheet.
06 - Bake in preheated oven for 12 to 15 minutes, until set but still soft. Allow to cool for 5 minutes before frying.
07 - Fill a deep skillet with 2 inches of vegetable oil and heat to 350°F.
08 - Working in batches, fry baked churro sticks for 1 to 2 minutes per side until golden and crisp. Drain fried churros on paper towels.
09 - Mix granulated sugar and cinnamon in a shallow dish. Roll warm churro sticks in the cinnamon sugar mixture to fully coat.
10 - Serve churro sticks immediately, optionally paired with chocolate or caramel dipping sauce.