¾cupmilkany kind works, but plant-based isn't as sweet, so you'll likely need a dash more sugar
2tspbrown sugaror 2 tsp white sugar and drop of molasses
Heat water in the microwave or in a tea kettle. Once near boiling, pour into a small container with the tea leaves (or tea bag) and allow it to steep for about 3-4 minutes.
While the tea is steeping, heat the milk for about 60 seconds in the microwave. Stir in the sugar, salt, cinnamon, and vanilla. You can froth this or whip it to give it a bit more body (I do this with my immersion blender).