In medium saucepan, combine milk, milk powder, espresso powder and sugar. Cook over medium high heat, stirring frequently, 3 to 4 minutes, until mixture boils and sugar is dissolved; remove from heat. In medium bowl, beat eggs until light; gradually beat in hot milk mixture and vanilla extract.
Fill each prepared custard cup with 1/4 of the custard mixture, evenly sprinkle each with cinnamon. Arrange cups in medium shallow baking pan; pour hot water (not boiling) halfway up pan.
Bake 20 to 25 minutes, until custard is set or a knife inserted in center comes out clean.
Cover and refrigerate until chilled.