In a small saucepan combine the water, sugar, salt, and oil. Bring to a boil and then remove from heat.
Stir in the flour and form a ball. It is very simple and happens quickly, approx. thirty seconds. Set aside to cool.
Once cooled, stuff the piping bag with the dhough. With the pastry bag, pipe strips of dough into 4 coils to create 2 ice cream sandwiches, about the size of a sand dollar on parchment paper.
Step 2: Frying
Heat oil to 375 degrees. Verify with the thermometer.
One at a time, place these dough coils on a large stainless steel spatula. Place the dough in the hot oil and fry until golden. This takes about 20 -30 seconds.
Once fried, place on paper towels to dry.
Step 3: Finishing The Churros
After the churro coils have dried, roll in the mixture of sugar and cinnamon for a light coating.
Take a scoop of your favorite ice cream and place on one of the coils. Place the other churro coil on top of the ice cream.
Now you have a Churro Ice Cream Sandwich! I rolled the ice cream part of the sandwich in some sprinkles to make it more fun!