Heat the milk in the microwave for 45 seconds
Melt two tablespoons of the butter and mix it in with the heated milk. Heating the milk keeps the butter from clumping up.
In a large mixing bowl, whisk together the milk/butter mixture, egg yolks, vanilla extract, cinnamon, salt and brown sugar.
Heat a large skillet over medium-low heat.
Soak the bread slices in the milk mixture for about 20 seconds.
Cook the soaked bread pieces in butter in the skillet about 3 - 4 minutes per side, until just browned in places.
Serve immediately with maple syrup and/or ice cream.