Blender has a Fuzzy Finding Feature, typing cyl will present the option of Cylinder.
The Cylinder will be facing up when inserted.
Rotate it 90 Deg on the Y Axis using a string of commands r, y, 90. This can also be achieved through the item tab.
By default, the 3D cursor will be located at (0, 0, 0), so a new Cylinder would be place at that location with a Diameter of 2 Units and a length of 2 units.
We are going to lengthen the cylinders using scale with another string of commands s, x, 2, scaling the cylinders length axially by 2. Alternatively, the length can be altered using the dimension section of the item tab.