In a small saucepan, bring water to a boil. Turn off heat.
Steep tea bag 4-6 minutes. Discard tea bag and pour tea into a mug.
Pour vanilla extract and maple syrup into mug. Stir to combine.
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.
Sprinkle cinnamon on top.
Notes
Do NOT use a Nutribullet to blend hot soy milk. It doesn't do well with hot liquids. If you want to use it, blend cold soy milk, then heat the soy milk.