In a small pot, bring 1 cup of water to a boil.
Once the water is boiling, add the orange peel and cinnamon stick. Let it simmer for 2-3 minutes.
Add the black tea bag (or loose leaf tea) into the pot. Steep for 3-5 minutes based on how strong you prefer your tea.
Stir in the brown sugar and vanilla extract while the tea is still hot so that everything dissolves nicely.
Pour in the milk and allow it to heat gently for another 2-3 minutes without letting it boil.
Strain the tea into your cup again, removing any remaining solids like cinnamon sticks and orange peels.
Add a twist of orange peel or a slice of orange for garnish before savoring your warm, fragrant Orange Cinnamon Milk Tea.