Preheat the oven to 350 degrees Fahrenheit. Line a muffin pan with paper liners and set aside.
In a measuring cup, whisk together Greek yogurt and milk; set aside.
In a medium bowl, whisk together the flour, cinnamon, baking powder, baking soda and salt.
In the bowl of an electric mixer fitted with the paddle attachment, beat butter and sugar on medium-high speed until light and fluffy, about 3 minutes. Beat in eggs and vanilla. On low speed, alternate adding dry ingredients and yogurt/milk in three additions, beginning and ending with the dry ingredients. Beat just until incorporated.
Divide the batter evenly between the prepared cupcake liners, filling each about 2/3 full.
Bake for 18 to 20 minutes, or until a toothpick inserted into the center comes out clean. Allow to cool 5 minutes, then transfer to a wire rack to cool completely.
To make the frosting:
In a stand mixer fitted with the paddle attachment, combine butter, cream cheese and vanilla. Beat on medium speed until smooth, about 2 minutes.
Add the confectioners' sugar and cinnamon. Beat on medium speed until smooth, about 2 to 3 minutes. Spoon frosting into piping bag and frost cupcakes.
To make the cinnamon sugar:
In a small bowl, whisk together 2 tablespoons granulated sugar and 1 teaspoon ground cinnamon. Sprinkle cinnamon sugar mixture over cupcakes, top with small bites of churros. Enjoy!
Nutritional information does not include churros.
You can prep the cupcakes up to 2 days in advance and store them in the refrigerator. Bring them to room temperature for at least 30 minutes prior to serving. We recommend waiting to top them with the mini churros until just before serving. If you store them in the refrigerator with the mini churros, the churros will get soggy.