Add ice cubes to glass. Pour in coffee, milk and syrup. Stir to combine. Taste and adjust milk and syrup to your liking.
In a small saucepan, bring water, honey and cinnamon sticks to a boil. Reduce heat to low and simmer for 10 minutes. Remove from heat, stir in vanilla and let cool completely. Store syrup in a jar or bottle in the refrigerator.