Add oats, water or milk, salt, cinnamon and vanilla (if using) to a pot or saucepan over medium/high heat.
Bring mixture to a low boil, reduce heat to a low simmer and continue to cook for about 5-7 minutes; stirring occasionally. Oatmeal is ready when the oats have soaked up most of the liquid and are creamy.
Transfer to a bowl and top oats with maple syrup and brown sugar. Stir into the oats and add a splash of milk (if using).