Pour the milk into a medium saucepan and begin to heat over medium heat.
Add the caramel syrup, cinnamon, and vanilla extract. Stirring constantly, continue to heat, but do not bring to a boil.
Once the milk is sufficiently hot and the flavors have melded, pour into mugs.
Top with a dollop of whipped cream, then drizzle with caramel sauce for garnish.
Serve immediately and enjoy this creamy, warming beverage!
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