Place almonds in a small bowl and cover with 2 inches of water. Let soak overnight in refrigerator.
Drain almonds and remove skins with a paring knife. Discard skins. Transfer to a blender and add 2 cups water, vanilla, cinnamon, and salt. Blend on high speed for 1 minute.
Milk can be stored in the refrigerator for up to 5 days.