From shepherd's fire to city fair
Legend credits Spanish shepherds with the first churros — dough fried over open fires, named after the churra sheep. Cities added the ridges, the sugar, and the chocolate for dunking, and the churro conquered every Spanish-speaking country on earth.
In the Río de la Plata they're filled with dulce de leche, which we consider the correct ending of the story.
By the order — and yes, filled ones exist here.