In a saucepan, heat the milk over medium heat until it starts to simmer.
Stir in the sugar, cocoa powder, cinnamon, nutmeg, cayenne pepper, and salt.
Continue to heat the mixture, stirring frequently, until it is hot but not boiling.
Remove from heat and stir in the vanilla extract.
Pour the hot chocolate into mugs and top with whipped cream and a cinnamon stick.
Serve hot and enjoy!
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