First, let's make the filling. In a sauce pan, over medium, add roughly sliced peaches, brown sugar, lemon juice, and pinch of salt. Stir and bring to a boil. Boil for 3 minutes and reduce heat and simmer for ten minutes. Remove from heat when compote begins to thicken and become syrup-like. Allow to cool completely. Add peach compote to a food processor and puree.

In a stand mixer (or a bowl), add heavy cream and sugar and beat heavy cream until stiff peaks form. Fold whipped cream into peach puree and cool in the refrigerator until churros are finished.

Gently whisk together milk, water, butter, and sugar to a sauce pan over medium heat and bring to a boil. Remove from heat and ad vanilla extract and fold in flour with a wooden spatula. Set aside and allow to cool until for about 15 minutes.

Begin heating oil to 340-360 degrees.

Once dough has cooled, use a hand mixer or stand mixer to beat in 2 eggs, one at a time. Dough will initially break apart but will come together and form a paste-like texture.

Add 1 cup of sugar and 3 tbsps cinnamon to a shallow bowl. The cinnamon sugar will be used to dust the churros when they are finished frying.

Add dough to a piping bag with a jumbo star tip. Pipe about 6 inches of the dough into the oil and cut with scissors or a knife. Fry for 3-3.5 minutes, until churros are a caramel color.

Add churros to a drying rack and cool for about 1 minute, then add churros to cinnamon sugar and dust.

Remove peaches and cream mixture from refrigerator and add to a piping bag with the Bismarck piping tip - (If you do not have this piping tip, you can use a wooden skewer to poke a hole in the churro and then fill the hole normally with a piping bag with a small hole cut on the tip) Insert tip into churro and squeeze mixture in. Repeat on the opposite end.

Eat!