Do everything to make the choux pastry excatly stated in the recipe for profiteroles (steps 1 - 8).
Heat a pot with oil till frying temp. While that is going on, have a tray ready with the fine sugar, vanilla beans and ground cinnamon. Mix thoroughly.
Pipe the pastry over the hot oil and cut with scissors as the pastry comes out. You can make them mini or longer if you like.
They take only a while to fry so as soon as they float to the top and the colour looks browned and golden, dish it out and drain on paper towels.
While they'e still hot, dump the churros into the vanilla-sugar-cinnamon mix and toss to coat.
Eat while they're still warm dipped in chocolate sauce with a cup of hot beverage!