In a Dutch oven, heat the oil to 360 ̊F on a deep-fry thermometer.
In a separate pot, boil the water with the salt, sugar, butter, vanilla, and cinnamon sticks. Once it boils, take out the cinnamon sticks and reduce the heat to medium.
Whisk in the flour until smooth. Mix with a spatula until it pulls off the side of the pot and isn’t very sticky, about 4 minutes.
Remove from the heat, transfer to a bowl, and let cool for 5 minutes.
Add the eggs and mix with a hand mixer until well combined.
Put the mixture in a piping bag fitted with a star tip and pipe the batter into the hot oil. Fry 2 to 3 minutes per side, until golden brown.
Drain on paper towels briefly. Combine the 1/4 cup sugar and ground cinnamon in a bowl and toss the churros in the cinnamon-sugar powder while still warm.