In a medium saucepan, bring 2 cups of water to a gentle boil over medium heat. Stir in the Mexican canela, whole cloves, and star anise. Reduce the heat and let it simmer for 3–4 minutes until the spices release their delightful aroma.

Brew a strong cup of dark roast coffee. Stir in the brewed coffee and piloncillo into the spice mixture. Let it brew for an additional 4–5 minutes.

Remove from heat and strain the mixture into a heatproof pitcher, discarding the solid spices. Set aside to cool for at least 10 minutes.

Fill tall glasses with ice cubes. Pour the cooled coffee over the ice, and stir in the milk and vanilla extract.

Sprinkle a pinch of ground cinnamon on top for garnish and serve immediately.