Put a silicone baking mat on a baking sheet and spray with oil spray.
Oil spray
In a medium saucepan add water, butter, Truvia Sweet Complete Granulated Sweetener, and salt. Bring to a boil over medium-high heat.
1 cup water, 1/3 cup unsalted butter, 2 tbsp Truvia Sweet Complete Granulated Sweetener, 1/4 tsp salt
Reduce heat to medium-low and add flour to the saucepan. Stirring constantly with a rubber spatula, cook until the dough comes together and is smooth.
1 cup all-purpose flour
Remove from heat and transfer the dough to a mixing bowl. Let cool for 4 minutes.
Add eggs and vanilla extract to the mixing bowl and mix using an electric hand mixer or stand mixer until dough comes together. The mixture will look like gluey mashed potatoes. Transfer to a large piping bag fitted with a star-shaped tip.
2 large eggs, 1 tsp vanilla extract
Pipe churros onto the greased baking mat, into 4-inch lengths and cut end with scissors.
Refrigerate piped churros on the baking sheet for 1 hour.
Carefully transfer churros with a cookie spatula to the air fryer trays, leaving about ½-inch space between churros. Spray churros with oil spray. Depending on the size of your air fryer used, fry them in batches.
Oil spray
Air fry at 375° Fahrenheit for 15 minutes until golden brown.
In a shallow bowl, combine granulated Truvia Sweet Complete Granulated Sweetener and cinnamon.
3/4 cup Truvia Sweet Complete Granulated Sweetener, 1 tbsp ground cinnamon
Immediately transfer baked churros to the bowl with the sugar mixture and toss to coat. Work in batches.
For the chocolate whipped pudding, make Simply Desserts Pudding according to box instructions using desired milk. Then, whip in the melted chocolate until light and fluffy.
1 box Simply Desserts Chocolate Pudding, 1 cup sugar-free chocolate chips, 1 1/2 cups milk
Serve and enjoy!