Add all of the ingredients to a small sauce pan, stir to combine everything, and heat over medium heat, for about 1-3 minutes, or until very hot, (but be careful not to bring to a boil.)
Remove from heat and add to a blender to get milk nice and frothy! Blend on high until the milk begins to form small bubbles, about 1-2 minutes.
Divide the mixture between two mugs (or save half for later in the fridge). Add a splash of half and half if desired, and/or a squirt of whipped cream, a drizzle of sugar free caramel, and a dash of cinnamon on top! Enjoy!