In a medium saucepan, combine water, white sugar, salt, and vegetable oil over medium heat. Bring to a boil, then add flour and stir until a smooth ball forms.

In a deep pot, heat oil to 375°F (190°C). Use a thermometer to ensure proper temperature.

Transfer dough to a pastry bag fitted with a star tip. Pipe 5-6 inch strips into the hot oil, frying in batches.

Fry churros for 2-3 minutes on each side until golden brown. Remove with a slotted spoon and drain on paper towels.

Mix sugar and cinnamon in a bowl. Roll warm churros in the mixture until well coated.

Serve churros warm, optionally with chocolate sauce, caramel, or ice cream.