Slit open the vanilla pod, scrape out the pulp and bring both the pod and pulp with the honey, cinnamon stick and milk to a boil. Remove from heat and let steep for at least 2 hours.
Pour everything through a sieve, heat again and froth up with a mixer or mini quirl. Spread the foam over 4 tall glasses and pour the espresso over the back of a teaspoon so that 2 layers are created.