In a medium saucepan combine the cinnamon, cocoa powder and Truvia. Blend in the boiling water. Whisk the mixture as you bring it to an easy boil. Continue simmering and stirring for about 2 minutes, being careful not to scorch the mixture.
Whisk in soy milk and heat until very hot, but do not boil. Remove from heat and divide between 4 mugs. Serve each with a whole cinnamon stick.