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In a medium saucepan, add water, sugar, salt, vanilla, and butter, and bring them just to a boil.
Add all the flour at once and stir until combined well using a wooden spoon or spatula.
Cook while stirring over low heat for 1-2 minutes.
Remove from the heat and transfer to a large bowl, allow it to cool for 4-5 minutes.
Add the eggs one at a time, whisk with a hand or electric mixer until smooth.
Transfer the dough into a piping bag with a ½ inch star tip or large closed star tip.
Heat the oil to 340F to 350F.
Place a piece of parchment paper on a work surface and pipe the dough into 6-inch length strips on the parchment paper.
Using a scissor cut the parchment paper around each churro.
Carefully lay the pieces into the oil and fry each side until golden brown.
Remove from the oil and transfer to paper towels.
Immediately dip them into the sugar and cinnamon-sugar mixture.
For the ganache sauce: Boil the heavy whipping cream in a saucepan or the microwave, then add chocolate.
Let it stand for 4-5 minutes, then add cinnamon and stir well until smooth.
Let it cool at room temperature.
Serve churros with chocolate ganache.