01 - Pour milk into a small saucepan and warm over medium-low heat, stirring occasionally, until steaming but not boiling, about 5 minutes.
02 - Whisk in sugar or chosen sweetener and pure vanilla extract until fully dissolved and well combined.
03 - Remove from heat and froth milk using a milk frother or whisk vigorously until foamy, if desired.
04 - Pour hot milk into mugs, garnish with a pinch of cinnamon or nutmeg if preferred, and serve immediately.