In a medium saucepan, combine the brown sugar, water, and cinnamon sticks over medium heat. Bring to a simmer, stirring often, and continue simmering until sugar is dissolved.

Turn off the heat and cover the pan. Allow the mixture to steep for at least one hour or up to four hours for even more flavor.

Strain out the cinnamon sticks, stir in the vanilla, then store in a sealed container in the fridge until ready to use.

Heat the milk on the stove top or in the microwave until steaming, but not boiling.

Add the cinnamon syrup to the milk then use a milk frother to froth. You can also use one of the alternative methods to froth the milk.

Pour the espresso into the bottom of a mug, then top with cinnamon milk.

Finish with whipped cream and a sprinkle of cinnamon.