Preheat oven to 425°F (220°C). Grease 12 muffin cups or line with paper muffin liners.
In a small bowl, combine milk and oats. Soak for 15 minutes.
In a separate bowl, beat together egg and oil; stir in oatmeal mixture. In a third bowl, sift together flour, cinnamon, sugar, baking soda and salt. Stir flour mixture into wet ingredients, just until combined. Spoon batter into prepared muffin cups until cups are 2/3 full.
Bake in preheated oven for 15-25 minutes or until a tooth pick inserted in center of muffin comes out clean.