Heat milk, sugar and cherries in medium saucepan over medium heat. Bring to simmer, remove from heat, cover and let steep for 10 minutes. Add pulp from vanilla bean to milk and whisk to combine. Pour mixture over couscous in bowl and add yogurt. Stir to combine. Divide evenly among 4 custard cups, sprinkle with cinnamon and refrigerate for 1 hour.
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