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Preheat the oven to 350°F (177°C) with the rack in the middle. Grease six cups in a mini muffin pan well with cooking spray.
Make the muffin batter by whisking together the sugar and melted butter until combined. Then whisk in the milk and vanilla. Add the flour, baking powder, cinnamon and salt and gently mix until just combined.
Spoon the batter into the mini muffin cups. Each should be about half full.
Bake for 9 to 11 minutes, or until light golden brown on the edges and the tops slightly bounce back when pressed.
Allow to cool in the muffin pan for just a few minutes until cool enough to touch, then remove.
While they are cooling, make the coating by melting the butter in a small-medium bowl and mix the sugar and ground cinnamon in a second small bowl. Dunk a mini muffin in the melted butter, then dip in the cinnamon sugar to fully coat. Place on a cooling rack and repeat with the remaining muffins.
Once they’ve cooled, you can give them a second dunk in the cinnamon sugar to make a thicker coating (optional). Enjoy!