Combine sugar and cinnamon in a deep-edged tray or platter and set aside.

In a medium saucepan, combine milk, butter, sugar, and salt and cook over medium heat. Once the butter has melted, add the all-purpose flour and whisk to combine. Switch over to a wooden spoon or spatula, and cook until the dough begins to pull away from the sides of the pan and the dough becomes shiny, approximately 3 to 4 minutes.

Transfer the dough to a mixing bowl and cool for a few minutes. Using a mixer, add eggs one at time, making sure to beat each one in completely before adding the next.

Transfer batter to a pastry bag fitted with a open star tip and set aside.

In a large saucepan, heat oil for deep-frying over medium heat. Once thoroughly heated, pipe batter into oil in desired shapes. Fry for several minutes, turning often to ensure even browning.

Once golden brown, remove the churros from the oil and blot them on a paper-towel lined tray for a few seconds, then toss in the prepared coating.

Serve warm.