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Bring water and cinnamon stick to a boil in a saucepan. Reduce heat and simmer for 5 minutes.
Add oats and cook for 1 minute. Add milk and cook until thickened, 1 to 2 minutes. Remove from heat. Stir in piloncillo, cinnamon, and vanilla.
1 cup water
1 Mexican cinnamon stick
1/2 cup quick-cooking oats
1/2 cup milk
1 tablespoon piloncillo, or to taste
1/2 teaspoon ground cinnamon
1/2 teaspoon vanilla extract