In a medium saucepan over medium-high heat, combine milk and sugar. Cook until sugar dissolves, stirring frequently.
Add cinnamon sticks to milk mixture and cook 5 more minutes, stirring occasionally. Do not boil.
Remove saucepan from heat and let stand 20 minutes.
Stir in vanilla and almond extracts. Set saucepan over medium-high heat and cook for 3 minutes, or until thoroughly heated, stirring occasionally.
Remove cinnamon sticks and discard them. Pour finished steamer drink into individual glasses and garnish each one with a pinch of ground cinnamon and a fresh cinnamon stick, if desired.
If you're feeling fancy or want to make this more of a dessert drink, top with a dollop of freshly whipped cream!