Preheat vegetable oil in a frying pan to 375 degrees F.

Mix sugar and cinnamon in a separate dish and set aside.

Combine water, brown sugar, salt, and butter in a saucepan and bring to a boil.

Remove from heat and add flour to the saucepan, stirring well.

In a separate bowl, whisk eggs and vanilla extract.

Add the egg mixture to the flour mixture and stir until well blended.

Fill a decorating tool or sandwich bag with the churro dough.

Attach a large star tip to the tool or cut the tip off the bag.

Squeeze the dough into the hot oil, forming 3-5 inch lengths.

Cook for about 1 minute on each side, until golden brown.

Remove churros and place them on a paper towel to drain excess grease.

Roll the warm churros in the cinnamon-sugar mixture until coated.