In a medium pot combine the milk, panela and cinnamon sticks. Bring to a boil over medium-low heat.

In a bowl beat the egg yolks, and pour about ½ a cup of the warm milk over the beating eggs yolks and stir it well, then slowly add the egg yolk mixture to the milk and stir well.

Cook over low medium heat, stirring consistently, until the mixture starts to thicken, while not letting it boil. Sprinkle ground cinnamon and serve immediately.