To make chocolate sauce, stir condensed milk in a small saucepan, over medium heat until hot.
Add chocolate. Whisk until smooth before whisking in milk and rum.
Remove from heat and cover to keep warm.
To begin making the churros dough, bring the milk, sugar, butter and vanilla beans and seeds to a boil in a medium saucepan.
Discard the vanilla beans and then remove the saucepan from heat.
Stir with a wooden spoon until combined and dough comes away from side of pan.
Remove from heat and stand, covered with plastic wrap, for 10 minutes.
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