Place the bread slices into the custard mixture and let them soak briefly until the surface feels saturated but not overly soggy.

Mix the granulated sugar and cinnamon together in a shallow dish to create the churro-style coating.

Stir powdered sugar, milk, and vanilla extract in a small bowl until a smooth glaze forms with a pourable consistency.

Heat a large skillet over medium heat and melt the butter until it begins to foam and release a rich buttery aroma.

Lift each soaked bread slice from the custard, letting excess liquid drip off before placing it gently into the hot skillet.

Cook the bread until the underside turns deep golden brown and crisp at the edges.

Flip the slices and continue cooking until both sides are evenly browned and the center feels set but still soft.

Remove each slice from the pan and immediately coat both sides in the cinnamon sugar mixture while still warm so it sticks well.

Transfer to a serving plate and drizzle lightly with the prepared glaze before serving warm.