Steep tea bag in water for 5 minutes. After steeping, discard tea bag.
In small saucepan, whisk together milk, honey, and vanilla over medium heat until just steaming.
Transfer milk mixture to a small blender or jar. Blend or shake (if using a jar) until frothy, about 20 seconds. Alternatively, you can use a handheld frothing tool if you have one.
Add frothed milk to your cup of tea. Serve right away!