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In a small saucepan, heat the milk over medium heat until it begins to steam. Do not let it come to a boil.
In a separate bowl, whisk together the cocoa powder, sugar, and ground cinnamon until well combined.
Gradually add the cocoa mixture to the warm milk, whisking constantly to prevent any lumps from forming.
Continue to cook the mixture over medium heat, stirring frequently, until it is hot and well blended.
Remove the saucepan from the heat and stir in the vanilla extract.
Taste the hot chocolate and adjust the sweetness by adding more sugar if desired.
Pour the hot chocolate into mugs and top with whipped cream if desired. You can sprinkle a little ground cinnamon on top for an extra touch of flavor.
Serve the hot chocolate immediately and enjoy!