Spread 1 tablespoon chocolate-hazelnut spread onto one side of each of 2 slices cinnamon bread; top each with another bread slice to make 2 sandwiches.
Beat milk, egg, and vanilla extract together in a shallow bowl until smooth. Soak each sandwich in the milk mixture until the bread is moistened, about 15 seconds per side.
Prepare a nonstick pan with cooking spray and heat over medium-high heat.
Cook sandwiches in the hot pan until browned on the bottom, about 2 minutes. Flip sandwiches and continue cooking until other side is browned, about 1 minute more.
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