Prepare the Churro Dough: In a medium saucepan, combine the water, butter, sugar, and salt. Bring to a boil over medium heat. Once boiling, remove from heat and add the flour. Stir quickly until a dough forms and pulls away from the sides of the pan.
Add Eggs and Flavor: Allow the dough to cool for about 5 minutes. Then, add the eggs one at a time, mixing well after each addition until the dough is smooth. Stir in the vanilla extract.
Heat the Oil: In a deep frying pan, heat about 2 inches of vegetable oil over medium heat until it reaches 350°F (175°C).
Pipe the Churros: Transfer the churro dough to a piping bag fitted with a large star tip. Carefully pipe 6-8 inch strips directly into the hot oil. Fry the churros until they are golden brown, about 2-3 minutes on each side. Remove with a slotted spoon and drain on paper towels.
Coat in Cinnamon Sugar: In a bowl, mix together the sugar and ground cinnamon. While the churros are still warm, roll them generously in the cinnamon sugar mixture.
Make the Sandwiches: Once the churros are cool enough to handle, cut them in half lengthwise (if desired) or leave them whole. Place a generous scoop of ice cream between two churro pieces to form a sandwich.
Serve Immediately: For best texture, serve the churro ice cream sandwiches immediately after assembling. Optionally, you can drizzle with chocolate or caramel sauce for added flair.
Notes
Serve immediately for best texture. Optionally drizzle with chocolate or caramel sauce.