Creating your Churro Ice Cream Sandwiches is straightforward! Follow these easy steps:

1. Make the Churro Dough: In a medium saucepan, combine water, butter, and salt. Bring to a boil over medium heat. Stir in flour and sugar until the mixture pulls away from the sides of the pan.

2. Add Eggs: Remove from heat. Slash in the eggs one at a time, mixing well after each addition until the dough is smooth. Stir in vanilla extract.

3. Preheat Oil: Heat a deep pot with oil over medium heat until it reaches 350°F (175°C).

4. Pipe Churros: Using a piping bag fitted with a large star tip, pipe strips of dough directly into the hot oil. Cut them to your desired length with scissors.

5. Fry Until Golden: Fry churros until golden brown, about 3–4 minutes per side. Avoid crowding the pot.

6. Prepare Cinnamon Sugar Coating: In a shallow dish, mix together granulated sugar and ground cinnamon.

7. Coat Churros: Remove churros from oil and drain on a paper towel. Immediately toss them in the cinnamon sugar mixture while still warm.

8. Cool: Allow churros to cool slightly before assembling.

9. Scoop Ice Cream: While churros cool, use an ice cream scoop to form balls of ice cream. Place on a baking sheet lined with parchment paper and freeze for 30 minutes.

10. Assemble: Take one churro and place a scoop of ice cream between two churros to form a sandwich. Repeat with remaining churros and ice cream.

11. Freeze Again: Place assembled sandwiches in the freezer for 30 minutes to hold their shape.