1. In a small pot over medium-high heat, bring milk and sugar to a simmer. Once sugar has completely dissolved, turn off heat and whisk in lavender. Allow to steep for 10 minutes.
2. Strain into a clean pot and whisk in vanilla and espresso. Bring to a simmer, stirring frequently, until heated through, about 3 minutes.
3. Pour into mugs, and top with whipped cream and lavender to garnish.