Combine milk and cinnamon sticks in a heavy bottom saucepan, bring to a low simmer and let steep for 5 minutes, discard sticks. Meanwhile, bring 2 cups water to a boil and add tea bags. Let steep 2-3 minutes, discard bags. Add maple syrup and vanilla to the steeped milk, stir to combine. Add tea to milk mix, stir to combine. Divide evening among mugs, garnish with a sprinkle of ground cinnamon. Serve immediately.