Combine flour, sugar, baking powder, cinnamon and salt. Add milk, coconut oil and mix until all ingredients are well combined.
In heavy pot or saucepan, heat 2 inches of oil over medium-high heat.
Scoop churro mixture into large piping bag, fitted with large open star tip. Carefully pipe mixture into preheated oil, into about 4 to 6-inch lengths, cut end with clean scissors.
Let fry until golden brown, about 2 minutes per side. Transfer to paper towels to dry briefly. Repeat process with remaining dough. Then transfer churros to cinnamon sugar mixture and roll to coat. Serve warm.