Start by brewing two shots of espresso using your espresso machine, moka pot, or even strong instant coffee if that's what you have on hand. Pour the hot espresso directly into your mug so it's ready to go.
While the espresso is still warm, add your maple syrup and stir it in thoroughly until fully dissolved. This step matters because the syrup blends much more smoothly into hot espresso than it does into cold milk later on.
In a small saucepan, gently heat your milk over medium heat until it's hot but not boiling, which usually takes about two to three minutes. Keep an eye on it, since milk can scorch quickly if you walk away.
Once your milk is warm, use a frother or a whisk to create a light, airy foam on top. If you don't have a frother, you can pour the warm milk into a jar with a lid and shake it vigorously for about 30 seconds instead.
Slowly pour your frothed milk into the mug with the espresso and maple syrup, holding back the foam with a spoon until the end. Spoon the foam on top, add whipped cream if you're using it, and sprinkle with a little cinnamon before serving.