In a small pot, heat milk until steaming. Remove from heat and stir in cinnamon stick pieces. Allow them to steep for at least 5 minutes.
Use a fork or slotted spoon to remove cinnamon stick pieces. Return pot to medium heat and stir in sugar. Stir until sugar dissolves and no longer feels gritty at the bottom of the pot. If desired, whisk vigorously or use a handheld milk frother to beat until foamy.
Pour coffee into an 8-ounce mug, add cinnamon milk mixture and stir.
Top with optional whipped cream and cinnamon or cinnamon sugar and enjoy!
*Use 1 cinnamon stick for a more mild cinnamon flavor, 2 for an extra strong one. *For a less-sweet latte, start with 1 teaspoon sugar and add additional sugar after everything is assembled if needed.