Combine the almond milk, coconut milk, coconut sugar, and cinnamon sticks in a saucepan. Bring to a simmer and let simmer gently for 10 minutes. Remove the cinnamon sticks and stir in the vanilla. Let cool.

Pour into 8 (2-ounce) ice pop molds, insert sticks and freeze until fully hardened, about 8 hours.

To serve, unmold and dust with ground cinnamon.