Bring two cups of water, four teaspoons of sugar, and four tablespoons of vegetable oil to a boil.
Remove from heat, add two cups of Bisquick and stir quickly until mixture resembles a paste.
Stir in four eggs, one at a time until combined.
Place the dough into a piping bag with a large star tip. Pipe the mixture to desired lengths onto a parchment-lined baking sheet. Freeze for one hour.
Heat oil in a pot or deep fryer to three hundred and seventy-five degrees. Fry the churros for four to five minutes, or until golden. Place on paper towels to drain.
Poke through the center of each churro with a metal straw and sprinkle with cinnamon sugar. Scoop the hazelnut spread with a spoon and transfer it into a clean piping bag. Fill each churro and enjoy!