1. Preheat the oven to 350°F.
2. Place the egg yolks and sugar in the bowl fitted with the whisk. Mix at speed 6 for 1 minute. After 30 seconds, add the milk and vanilla. Launch the dessert program at speed 6 at 160°F for 5 minutes.
3. At the end of cooking, pour the mixture into ramekins.
4. Place the ramekins in an oven dish with very hot water and bake for 25-30 minutes or until a knife inserted 1 inch from the edge comes out clean. Cool slightly. Sprinkle with cinnamon and serve.