- Pour milk into medium saucepan. Whisk in brown sugar, cinnamon, and cayenne.
- Heat milk and spices on the stove over medium heat until simmering, taking care not to boil.
- Slowly add chocolate, continuing to whisk until fully melted.
In a stand mixer, whisk whipping cream, sugar, and vanilla extract on high until stiff peaks form, 1 to 3 minutes. If overbeaten, butter will begin to form.
Pour hot chocolate into mugs, top with whipped cream, sprinkle with extra cinnamon, and serve hot.