Pour 200 ml condensed milk into a medium saucepan. Cook over medium heat, stirring occasionally, for 10 minutes until caramel-colored. Add 100 ml coconut milk gradually and stir until smooth, about 5 minutes. Remove from heat.
Combine 1.2 cups milk, 4 tablespoons butter, 4 tablespoons sugar, 0.5 g vanilla extract, and 0.2 teaspoon salt in another saucepan. Bring to a boil over medium heat, stirring until butter melts and sugar dissolves. Reduce heat to low, add 1.2 cups wheat flour, and stir constantly to prevent lumps from forming. Remove from heat and let rest for 5 minutes. Beat 3 eggs and stir them into the dough.
Transfer the dough to a cookie press fitted with a star-shaped tip.
Heat 400 ml sunflower oil in a large frying pan over medium heat.
Line a plate with paper towels.
Mix 0.5 cups brown sugar and 2 tablespoons cinnamon together and spread on baking paper. Set aside.
Use the cookie press to pipe churros of desired length into the hot oil, using a knife to separate them. Fry for 1-2 minutes until golden brown, flip, and fry the other side for 1-2 minutes until golden brown. Remove with a slotted spoon and place on the paper towel-lined plate to drain.
Coat the churros in the brown sugar-cinnamon mixture and serve with the caramel sauce.