Pour hot coffee into a mug. Add tahini and maple syrup. Whisk with a fork so that tahini mixes in.
Froth soy milk. If you don't have a milk frother you can mix the soy milk in a blender* or shake it in mason jar with a secure lid and towel over the top.
Pour soy milk over coffee. Spoon foam on top.
Top with cinnamon, if desired.
Video
Notes
*Do NOT put hot soy milk in a Nutribullet! If you want to use a Nutribullet, you'll need to blend cold soy milk because it doesn't do well with hot liquids.