Combine oats and milk: In a medium pot, add 1 cup of rolled oats and 2 cups of your chosen plant-based milk.
Cook the oatmeal: Place the pot over medium heat and bring the mixture to a simmer, stirring occasionally.
Simmer and stir: Let the oatmeal cook for about 5-10 minutes, stirring every few minutes to prevent it from sticking. Adjust the heat as needed to prevent boiling over.
Add flavorings: Once the oats have absorbed most of the milk and are at your desired consistency, stir in the maple syrup, cinnamon, vanilla extract, and a pinch of salt.
Serve: Pour the oatmeal into bowls and add your favorite toppings like fresh fruit, nuts, or nut butter. Serve immediately.