Combine 2 cups water and cinnamon sticks in a small saucepan. Bring mixture to a boil.
Remove water from heat, then add tea bags. Cover pot and let tea steep for 7 minutes.
While tea is steeping, heat milk in microwave or another saucepan until warm. Set aside.
When 7 minutes has passed, remove tea bags and cinnamon sticks from saucepan.
Stir in maple syrup and vanilla extract. Then add milk.
Divide tea between 2 cups and serve immediately. Enjoy!
Notes
I recommend using 2% or whole milk to make this tea. Non-dairy milks also work great.Feel free to substitute honey or another sweetener for the maple syrup.