In a large pot, pour enough oil so that it's about 3 - 4 inches deep.
Heat the oil over medium heat so that it evenly heats up to reach a temp. of over 350°F (between 350 - 375°F).
While the oil is heating, place the dough in a piping bag. Take another piping bag and place the closed star tip at the end of it (I use Ateco 845 or 846).
Place a parchment paper on a half sheet pan.
Mix the sugar and cinnamon in a flat dish and set aside.
You can either pipe the dough directly into the hot oil (see notes), OR pipe the dough onto a baking tray first and then transfer them into the oil as well (directions below)
Place the piping bag with the dough inside the piping bag with the closed star tip. Twist the open end and squeeze the churro dough so that the dough comes evenly out of the tip.
Pipe out a 5 - 6 inches long churro over the parchment paper. Use a knife or scissors dipped in water to snip the dough at the appropriate length.
Repeat until all the dough has been piped out. See recipe notes on how to directly pipe the dough into the hot oil.
When the oil is at the correct temperature, gently remove a piped churro and place it on a slotted spoon. Gently lower it into the oil.
Fry the churro until it's slightly dark golden in color - about 2 to 3 minutes, making sure to turn the churro for even cooking.
You can fry multiple churros at the same time, but do not overcrowd the oil / pot. The oil temperature should stay between 350 - 375°F.
To prevent the churros from sticking to each other, use a wooden skewer to move the churros around in the oil.
Once the churros are cooked, remove from the oil and place them on a paper towel-lined tray for the oil to drain. Repeat with all of the churros.
While still warm, toss the churros in the cinnamon sugar.
Serve the churros warm.