Prepare your espresso or coffee. Brew 2 shots of espresso or 1/2 cup of strong coffee using your preferred method. Set aside in your serving mug.
Combine milk and flavorings. In a small saucepan, combine the milk, maple syrup, and ground cinnamon. Heat over medium-low heat, whisking occasionally to prevent scorching.
Heat and froth the milk mixture. Continue heating until the milk is hot and steaming (about 150°F), but not boiling. If you have a milk frother, use it now; otherwise, vigorously whisk the milk until it becomes frothy.
Add vanilla if using. Remove from heat and stir in the vanilla extract if desired.
Assemble your latte. Pour the hot espresso or coffee into your mug if you haven’t already, then slowly add the maple-cinnamon milk mixture, holding back the foam with a spoon.
Top with foam and garnish. Spoon the reserved foam onto the top of your latte. If desired, add a dollop of whipped cream, a sprinkle of cinnamon, and a cinnamon stick for garnish.
Serve immediately while hot and enjoy your homemade coffeehouse-quality Maple Cinnamon Latte!