We provide a theoretical description of dynamical heterogeneities in glass-forming liquids, based on the premise that relaxation occurs via local rearrangements coupled by elasticity. In our framework, the growth of the dynamical correlation length ξ and of the correlation volume χ4 are controlled by a zero-temperature fixed point. We connect this critical behavior to the properties of the distribution of local energy barriers at zero temperature. Our description makes a direct connection between dynamical heterogeneities and avalanche-type relaxation associated to dynamic facilitation, allowing us to relate the size distribution of heterogeneities to their time evolution. Within an avalanche, a local region relaxes multiple times, the more the larger is the avalanche. This property, related to the nature of the zero-temperature fixed point, directly leads to decoupling of particle diffusion and relaxation time (the so-called Stokes-Einstein violation). Our most salient predictions are tested and confirmed by numerical simulations of scalar and tensorial thermal elasto-plastic models.