Heat oven to 375 F.
Mix flours in a small bowl, set aside.
In a small pot over medium heat, combine water, sugar, vanilla, and salt. Heat until sugar dissolves and mixture comes to a boil. Remove from heat. Using a wooden spoon, stir in oil and flours until completely incorporated to form a dough. Set aside to cool for 10 minutes.
Combine cinnamon and sugar for coating in a loaf pan, set aside.
Add the cooked dough to a pastry bag with a star tip (alternately use a gallon-size plastic bag, snipping off a corner for ½-inch opening). Pipe out 4 to 6-inch long churros, cutting with a knife or scissors, onto a greased baking sheet. Bake 15 to 20 minutes, turning midway for an even bake.
Allow churros to cool completely. Brush with vegan butter and toss in cinnamon-sugar mixture to coat. Arrange on
Serve the sugarcoated churros drizzled with warm, hazelnut chocolate sauce (see recipe).
In a small pot over low heat, warm chocolate pieces. Once the chocolate starts to melt, add hazelnut milk slowly, whisk until smooth. (Sauce should be thin, add more milk if necessary). Remove from heat.