Vanilla syrup: Add both maple syrup and vanilla extract in a small cup or glass measuring cup. and stir to combine.
Vanilla sweet cream cold foam: add heavy cream, milk, and vanilla syrup in a bowl and whip the cream until slightly thickened. Set aside.
Pour the coffee into glasses over ice, add vanilla syrup, and stir. Then spoon a couple of large spoonfuls of vanilla sweet cream cold foam on top. Enjoy!