Steep tea bags in boiling water for 5 minutes; discard tea bags and divide the tea between teacups or mugs.
In a small saucepan, whisk together milk, brown sugar, and vanilla over medium heat until steaming. Don't let the milk boil. Remove from the heat and froth. Pour over the tea in the teacups and serve immediately.
Notes
Loose Tea? If you'd like to use loose tea, substitute 1 tablespoon of loose tea with the tea bags. Strain before pouring into the teacups or mugs.