In a large sauce pan combine milk and peaches and bring to a boil. Reduce to a simmer, whisk in honey (or brown sugar), almond extract, and cinnamon. Simmer 1-2 minutes longer.
Transfer to a blender, puree until smooth. (see note) Allow to cool 1-2 minutes. Pour into two glasses and serve.
Notes
*For safety, be sure to blend hot liquid vented, with a towel over the vent.