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In a mixing bowl, stir flour and sugar. Set aside.
Add the water and oil in a non-stick saucepan.
Bring to medium-high heat until it reaches a high boil.
When the water boils, remove the lid and remove from the heat.
Immediately pour the flour and stir energetically with a wooden spoon or rubber spatula to form a soft, elastic dough ball.
Lightly oil a work surface, place the dough ball on it, and let it cool down for 5 minutes or until safe to touch by hand.
Roll into a cylinder - see pictures above for help. Use a sharp knife to cut the cylinder into 8 pieces.
Roll each piece of churro dough into 5-inch long logs.
Using a fork, press marks all over the surface of each log to mimic the churro shape. It won't mark as well as piping, but it's easier than piping the dough. (note 5 for piping dough).
Spray cooking oil on the air fryer basket.
Place each churro in the air fryer basket, and make sure they don't touch each other.
Air fry for 15 minutes, flipping the churros halfway until they are light golden brown.
Meanwhile, in a small bowl, prepare the cinnamon-sugar mixture by stirring the cinnamon and sugar evenly. Set aside.
Remove the warm churros from the air fryer and place them on a baking sheet. Spray cooking oil on all sides of each churro, then toss in cinnamon sugar to coat.