Preheat oven to 400 degrees. Lay an 18 by 13-inch baking sheet underneath another 18 by 13-inch baking sheet (this just creates insulation so the bottoms don't burn) and line top baking sheet with parchment paper or a silicone baking mat.
In a medium saucepan combine water, pumpkin, butter, brown sugar, salt, 1 tsp cinnamon, nutmeg, ginger and cloves. Set over medium-high heat, and cook stirring frequently until it reaches a full rolling boil.
Mix in flour and cook, stirring and turning dough constantly with a rubber spatula, for 1 minute (it should form a smooth dough that has come together well).
Immediately transfer dough into the bowl of an electric stand mixer fitted with a paddle attachment.
Then with mixer running on low speed, add in one egg and mix until combined while increasing mixer speed and stopping and scraping sides of bowl as needed (dough will seem runny and separated but keep mixing and it will come together!).
Repeat process with second egg and mix in vanilla.
Transfer dough to a large piping bag fitted with a large star tip (I used a Wilton 8B).
Pipe dough onto prepared stacked baking sheet, either into 7 1/2-inch lengths for longer churros or 2-inch lengths for minis and cutting with scissors after piping each.
Bake in center of preheated oven until set and golden brown, about 28 - 33 minutes.
Meanwhile in a shallow baking dish (such as an 8 by 8) whisk together granulated sugar with remaining 1 tsp cinnamon.
While churros are still warm, working with about 3 large or 6 minis at a time, brush lightly with melted butter then immediately transfer to cinnamon sugar mixture and roll to coat (if you made the longer ones it helps to use two hands on each end so they don't break since they're warm).
Transfer to a wire rack and repeat with remaining churros. Serve warm for best results with hot fudge sauce if desired.
*Note that recipe has been updated. I had a few readers comment that the dough was too runny so I reduced the liquid, cooked the batter and omitted the 2 minute resting period to give the eggs more of a head start, you could try just one egg and see if that is enough for you. I've made these three times with success so they should turn out perfect for you as well!
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