Here's a recipe for healthy baked churros. Melt butter, water, sugar, and salt in a saucepan, then add all-purpose flour to make the dough. Gradually mix in beaten egg, then pipe the dough into churro shapes using a piping bag fitted with a star nozzle. Brush the surface with oil and bake in the oven. Once baked, coat the churros with melted chocolate (milk, matcha, or strawberry flavor) to finish. These are easy and delicious chocolate churros with a crispy outside and chewy inside.