Place water in a saucepan and bring to a boil. Add in chicory, hazelnuts and cacao nibs, reduce heat and simmer for 5 minutes.
Add in cinnamon sticks and turn off heat. Cover and steep for another 5 minutes or until desired taste is achieved.
Strain the chicory, cacao nibs, nuts and cinnamon and discard or save for a second batch. Pour coffee into a mug, and add vanilla extract at the end and serve.
Store leftovers in a glass jar, such as a mason jar, and refrigerate for up to 3 days.