In a medium saucepan, whisk together the milk, 2/3 cup of the sugar, and cocoa until smooth. Add the cinnamon sticks, orange peel and cloves and bring to a simmer, stirring, to dissolve the sugar and prevent the cocoa from sticking to the bottom of the pot. Simmer for 2 minutes, then remove from the heat, cover, and let steep for 10 minutes.
In a medium bowl, whip the cream with the remaining 1 teaspoon sugar until thick and frothy, and peaks form. Set aside.
Strain the milk mixture into a coffee pot or carafe and add 2 cups of the hot coffee (2 1/2 cups for stronger coffee flavor, to taste). Pour into cups or small mugs and top each with a dollop of the sweetened whipped cream. Serve immediately.