While your dough is chilling, line a plate with paper towels. Add the vegetable oil to a dutch oven or large cast iron skillet until it measures about 1 1/2 inches deep. I prefer a deeper dish to prevent splattering. Heat the oil over medium-high heat until it reaches about 375F degrees.
Remove your dough from the oven — it should be frozen into discs that are firm enough to pick up. Gentry drop 2 rounds into the hot oil and fry until deep golden brown on both sides, turning frequently to ensure even cooking.
Once churros are cooked, remove from the oil and place on the paper towel-lined plate to drain.
Once all churros are fried, combine cinnamon and sugar in a bowl. Coat warm churros, in cinnamon sugar, spooning more cinnamon-sugar if needed to cover. Tap off any excess.
Before making sandwiches, let churros chill completely. You can place the churros in the refrigerator to speed up this process.
To make sandwiches, place a scoop of ice cream on flat side of one churro. Place another churro on top and gently press down being careful not to smash your churros. Freeze until time to serve.
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