Preheat oven to 350°F Put milk, rice and vanilla bean and seeds into a medium saucepan. Bring to a simmer. Cook, stirring occasionally, until rice has absorbed most of the liquid, 15-20 minutes. Remove from heat. Discard vanilla bean.
Whisk cream, granulated sugar, salt, yolks, and cinnamon in a bowl. Pour into rice mixture, stirring constantly. Return to heat; bring to a simmer. Divide among 4 6-oz ramekins set in a roasting pan; add boiling water halfway up sides. Bake until almost set, 15 minutes. Let cool 10 minutes.
Sprinkle tops with raw sugar, dividing evenly.
Using a kitchen torch, caramelize sugar. Sprinkle with cinnamon.