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Bruise the rosemary. Take each rosemary sprig and twist it gently between your hands a few times.
Make the rosemary vanilla syrup. In a small saucepan, combine the sugar, water, and bruised rosemary sprigs. Bring to a gentle simmer over medium heat, stirring occasionally until the sugar fully dissolves, about 3 to 5 minutes.
Steep. Remove the saucepan from the heat and stir in the vanilla bean paste and sea salt. Let the rosemary sprigs steep in the syrup for at least 30 minutes. Strain out the sprigs and transfer the syrup to a jar.
Build the latte. In your mug, combine 2 tablespoons of the rosemary vanilla syrup with 2 shots of hot espresso and stir well.
Add milk. Pour in your steamed or warmed milk and give it a gentle stir. Top with foam if you like, garnish with a small sprig of rosemary, and serve right away.