Combine milk, vanilla bean and seeds, cinnamon quill and lemon rind in a saucepan and bring to the boil over low heat to infuse. Remove and discard vanilla bean and cinnamon quill, add rice and stir to combine. Simmer for 20 minutes or until rice is tender, then stir through sugar and butter. Stir through egg yolks and cook over low heat for 5-10 minutes or until mixture has thickened. Divide among warmed serving dishes, scatter with cinnamon and serve immediately.