In a small saucepan, heat milk until it just begins to bubble.

Use a milk frother to whip milk to desired consistency and foaminess, or use a hand blender to blend milk until it foams. Alternatively, you can pour milk into a Mason jar and shake vigorously until it foams.

Pour milk into a mug. Add cinnamon, vanilla sugar, and maple syrup. Stir with a spoon.

Add a dollop of whipped cream if desired and sprinkle with more cinnamon (optional).