In your mug, add the coffee, maple syrup, vanilla extract and cinnamon. Let the hot espresso dissolve the ingredients.
Heat up your milk on the stove (about 4-6 min); remove right before it starts boiling.
Pour your milk in a milk frother and froth until you have thick foam. Pour the milk over your coffee in the mug, and make sure to scoop out the extra foam.
Garnish with some more cinnamon on top, if desired.