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Place 2 cups milk in a medium saucepan; bring to a gentle boil over medium heat. Stir in 1 cup oats; reduce heat to maintain a gentle simmer and cook, stirring frequently, until the oats have softened and thickened, 7 to 9 minutes. Remove from heat.
Add 3 teaspoons maple syrup, 1 teaspoon each cinnamon and vanilla and a pinch of salt to the oats. Divide the oatmeal between 2 bowls.
Stir 2 tablespoons yogurt and the remaining 1 teaspoon maple syrup together in a small bowl. Drizzle over the top of the oatmeal.