In a saucepan, heat the milk with cinnamon, sugar, and lemon zest until it comes to a simmer. Once hot, let it sit for a few minutes to infuse.

Dip the sliced bread into the milk mixture, then coat it in beaten egg.

In a saucepan with enough hot oil, fry the soaked bread until golden brown on both sides.

Remove the torrija and place it on a plate. Pour a little of the milk mixture over it to soak, if desired.

To serve, top with vanilla ice cream (or your favorite flavor) and drizzle with caramel syrup.