Preheat 1 1/2 to 2 inches of vegetable oil in a 10 to 12 inch frying pan to 375 degrees F.
In a separate dish mix the 1/4 cup sugar and cinnamon and set aside.
In a 3 quart sauce pan add the water, brown sugar, salt, and butter and heat to a good boil. Remove from the heat and add the flour.
In a separate bowl, mix the eggs and vanilla together and then add this mixture to the flour mixture. Stir until well blended and all the egg is completely mixed inches.
Fill your decorating tool with the churro recipe dough and attach the largest star tip you have, OR use a sandwich bag with the tip cut off. Try lining the inside of the bag with oil to help the dough thourgh easier.
Once the oil is hot enough, squeeze some dough into the oil about 3-5 inches long.
Cook them about 1 minute and turn them over with a slotted spoon. Cook an additional minute or two. You're looking for a golden brown color.
Remove churros with the slotted spoon and place them on a paper towel to absorb excess grease.
While warm, roll each churro into the dish with the sugar and cinnamon until coated.