If you want to make churros at home, you need the press for churros (called churrera in Spanish). It is very easy to use. Just open the lid, fill it with churro dough and then gradually turn the press. As you apply pressure, the raw churro will come out shaped according to the attachment you choose. Let it fall on a pan filled with very hot olive oil and take out the churros when they get a beautiful golden colour. This model also contains a nozzle to make hollow fillable churros which can be stuffed with cream, custard or thick chocolate.
My mom ran an ironmongery shop in Spain for almost 30 years, and this one was the churro press that we sold in store and that we had at home when we wanted to make churros for ourselves.