Preheat oven to 350 degrees and liberally spray a mini muffin tin with nonstick cooking spray; set aside. In a saucepan heat heavy cream over medium-high heat until it begins to simmer, but do not allow to boil, about four minutes. Remove from heat and whisk in cocoa powder, sugar, coffee and vanilla until smooth. Allow the chocolate filling to cool completely and place in fridge until ready to assemble. To make churro cookie cups pinch off 1 inch sugar cookie dough and shape into small ball. Press dough into muffin tin to form a cookie cup then bake for 10 minutes or until light golden brown. Remove from oven and with back of spoon press dough (it will slightly puff in oven) to keep cookie shape and allow to cool completely in pan. In a small bowl mix together sugar and ground cinnamon. Carefully remove cookie cups, lightly toss in sugar-cinnamon mixture and place on serving tray. When ready to serve fill churro cookie cups with chocolate filling and drizzle with dulce de leche.